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Raw output: neo_controller.c
+0001: # _____ __
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0002: # ___ | / /__________
0003: # __ |/ /_ _ \ __ \
0004: # _ /| / / __/ /_/ /
0005: # /_/ |_/ \___/\____/
0006:
0007: # Kessler Controller
0008: # Jie Fan (jie.f@pm.me)
0009:
0010: # This controller file needs to be compiled with Cython, into a C extension module to be imported into a Python script
0011:
0012: # TODO: Show stats at the end
0013: # DONE: Verify that frontrun protection's working (shot stealing protection), because it still feels like it's not totally working!
0014: # DONE: Make it so during a respawn maneuver, if I'm no longer gonna hit anything, I can begin to shoot!
0015: # TODO: Use the tolerance in the shot for the target selection so I don't just aim for the center all the time
0016: # KINDA DONE: Add error handling as a catch-all
0017: # TODO: Analyze each base state, and store analysis results. Like the heuristic FIS, except use more random search. Density affects the movement speed and cruise timesteps. Tune stuff much better.
0018: # TODO: Add error checks, so that if Neo thinks its done but there's still asteroids left, it'll realize that and re-ingest the updated state and finish off its job. This should NEVER happen though, but in the 1/1000000 chance a new bug happens during the competition, this would catch it.
0019: # DONE: Tune gc to maybe speed stuff up
0020: # DONE: Match collision checks with Kessler, including <= vs <
0021: # DONE: Add iteration boosting algorithm to do more iterations in critical moments
0022: # DONE: If we're chilling, have mines and lives, go and do some damage!
0023: # WON'T FIX: Optimally, the target selection will consider mines blowing up asteroids, and having forecasted asteroids there. But this is a super specific condition and it's very complex to implement correctly, so maybe let's just skip this lol. It's probably not worth spending 50 hours implementing something that will rarely come up, and there's plenty of other asteroids I can shoot, and not just ones coming off of a mine blast.
0024: # WON'T FIX: Remove unnecessary class attributes such as ship thrust range, asteroid mass, to speed up class creation and copying
0025: # DONE: Differentiate between my mine and adversary's mine, to know whether to shoot size 1's or not
0026: # TODO: Mine FIS currently doesn't take into account if an asteroid will ALREADY get hit by a mine, and drop another one anyway
0027: # DONE: When validating a sim is good when there's another ship, make sure the shots hit! The other ship might have shot those asteroids already.
0028: # DONE: Try a wider random search for maneuvers
0029: # KINDA DONE: GA to beat the random maneuver search, and narrow down the search space. In crowded areas, don't cruise for as long, for example!
0030: # TRIED, not faster: Add per-timestep velocities to asteroids and bullets and stuff to save a multiplication
0031: # TODO: Revisit the aimbot and improve things more
0032: # NO NEED TO FIX because Kessler changed it so that it'll wait out the bullet, as long as there's still time remaining: If we're gonna die and we're the only ship left, don't shoot a bullet if it doesn't land before I die, because it'll count as a miss
0033: # EHH WON'T MAKE THIS CHANGE BECAUSE IT'S KINDA BAD AND COMPLEX: Use math to see how the bullet lines up with the asteroid, to predict whether it's gonna hit before doing the bullet sim
0034: # DONE: get_next_extrapolated_asteroid_collision_time doesn't handle the edges properly! Collisions can't go through the edge but this can predict that. Do the checks!
0035: # DONE: Improve targeting during maneuvers to maintain random maneuvers. Each sim should target differently, not just always aim at the closest asteroid! But we need to maintain cohesion in the targets from one iteration to the next, so Neo doesn't switch targets randomly within the sim.
0036: # PROBABLY NOT WORTH ADDING: Add corner camping hardcoded logic
0037: # PROBABLY NOT WORTH ADDING: Add closing ring freezing
0038:
0039:
0040: # POST-XFC 2024 IMPROVEMENT IDEAS:
0041: # DONE (I THINK): Make it so that if the other ship steals my shots, I realize sooner and avoid shooting.
0042: # Currently Neo takes up to 2 planning periods to realize, but if I do a second pass check of the planned actions and make sure all shots land,
0043: # then I can reduce this down to up to 1 planning period of delay. Neo can be only 96% accurate with a good adversary, so hopefully this can be bumped to like 98%.
0044: # This is VERY important in scenarios with a bullet limit since a missed shot is a missed point
0045:
0046: # DONE: Inspired by OMUlettes taking out the Fuzzifiers by crashing into them, I want to implement the following hard-coded logic:
0047: # if the other ship is on its last life and I have at least 2 lives:
0048: # SLAM INTO THE OTHER SHIP AND TAKE THEIR LAST LIFE
0049:
0050: # TODO: Improve avoiding shooting size-1 asteroids within the blast radius of my own mine.
0051: # Currently it avoids targeting these, but it could still accidentally hit such asteroids in the way of their intended target
0052:
0053: # DONE: Improve handling low bullet limits. Currently Neo just kinda chills and doesn't use its remaining mines effectively.
0054: # Improving its behavior here can help get a bit more score. Even sacrificing lives to get a couple more hits could be a good strat.
0055:
0056: # TODO: Ration mines better. Some scenarios Neo uses them too sparingly, and sometimes it dumps them all at the start, and doesn't have any left to use.
0057: # The former is a larger issue. If there's only 3 seconds left, Neo can dump a mine and it could get a few more hits at basically zero cost
0058: # The rationing issue might be solvable by scaling up and down what is considered a good number of asteroids within a blast radius. Currently these are hardcoded.
0059:
0060: # DONE: Print out a build date at the start of each run, so during the competition I can make sure the correct version of my controller is run.
0061:
0062: # WON'T FIX: Remove my training wheels artificial limitation of placing mines 3 seconds apart.
0063: # I can place them as low as 1 second apart, so removing this might add more strategic options.
0064: # But this will also give Neo more opportunities to bomb itself, so this is hard to implement well.
0065:
0066: # TODO: Consider the time limit better, and adapt my strategy based on that. Currently it's not considered (other than avoiding shooting a bullet that won't land before the time's up).
0067: # For example, if there's a very long time limit and I have unlimited bullets, then I probably want to focus on killing the other ship first.
0068: # Otherwise if there's a short time limit, I shouldn't waste time killing the other ship because even if I do,
0069: # I don't have time to hit all the asteroids myself, and it's better to just shoot asteroids and trust that I'm gaining score quicker than the other team is able to gain score,
0070: # or at least I'm no worse than the other team
0071:
0072: # DONE: Investigate why Neo just stayed on top of the mine near the end of the scenario for the closing double rings scenario
0073:
0074: # DONE: Don't place a mine if it can't explode before the time runs out
0075:
0076: # DONE: Dump mines if it can hit stuff right before the end of the scenario
0077:
0078: # DONE: Check for time running out condition to handle stuff like that better
0079:
0080: # cython: language_level=3
0081: from libc.math cimport sin, cos, sqrt, fabs, atan2, acos, asin, pi, NAN, INFINITY, isnan, isinf, copysign, exp
+0082: from math import ceil, floor
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0083: from libc.stdint cimport int64_t
0084: ctypedef double float64_t
+0085: import math
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0086: cimport cython
0087:
0088:
0089:
0090:
+0091: import bisect
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+0092: import gc
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+0093: import math
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+0094: import random
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+0095: import time
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+0096: from immutabledict import immutabledict
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+0097: from collections import deque
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+0098: from functools import lru_cache
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+0099: from itertools import chain
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0100: #from math import acos, asin, atan2, ceil, cos, exp, floor, inf, isinf, isnan, nan, pi, sin, sqrt, copysign
+0101: from typing import Any, Final, Optional, Sequence, TypedDict, cast
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0102:
+0103: import matplotlib.patches as patches # type: ignore[import-untyped]
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+0104: import matplotlib.pyplot as plt # type: ignore[import-untyped]
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+0105: from numpy import arange, fmax, linspace, vectorize
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0106: #from mypy_extensions import i64
+0107: from skfuzzy import control, trimf # type: ignore[import-untyped]
__pyx_t_3 = __Pyx_PyList_Pack(2, __pyx_mstate_global->__pyx_n_u_control, __pyx_mstate_global->__pyx_n_u_trimf); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __pyx_t_2 = __Pyx_Import(__pyx_mstate_global->__pyx_n_u_skfuzzy, __pyx_t_3, 0); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_t_3 = __Pyx_ImportFrom(__pyx_t_2, __pyx_mstate_global->__pyx_n_u_control); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_control, __pyx_t_3) < 0) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_t_3 = __Pyx_ImportFrom(__pyx_t_2, __pyx_mstate_global->__pyx_n_u_trimf); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_trimf, __pyx_t_3) < 0) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0;
0108:
0109: #from src.kesslergame import KesslerController # type: ignore[import-untyped]
0110: #from kesslergame import KesslerController # type: ignore[import-untyped]
0111:
0112: # IMPORTANT: if multiple scenarios are run back-to-back, this controller doesn't get freshly initialized in the subsequent runs.
0113: # If any global variables are changed during execution, make sure to reset them when the timestep is 0.
0114:
0115: #BUILD_NUMBER: Final = "2024-06-17 Neo - Jie Fan (jie.f@pm.me)"
0116:
0117: # Output config
+0118: DEBUG_MODE: Final[bool] = False
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_DEBUG_MODE, Py_False) < 0) __PYX_ERR(0, 118, __pyx_L1_error)
+0119: PRINT_EXPLANATIONS: Final[bool] = False
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_PRINT_EXPLANATIONS, Py_False) < 0) __PYX_ERR(0, 119, __pyx_L1_error)
+0120: EXPLANATION_MESSAGE_SILENCE_INTERVAL_S: Final[float] = 2.0 # Repeated messages within this time window get silenced
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_EXPLANATION_MESSAGE_SILENCE_INTE, __pyx_mstate_global->__pyx_float_2_0) < 0) __PYX_ERR(0, 120, __pyx_L1_error)
0121:
0122: # These can trade off to get better performance at the expense of safety
0123: # TRUE FOR COMPETITION, inexpensive
+0124: STATE_CONSISTENCY_CHECK_AND_RECOVERY = True # Enable this if we want to be able to recover from controller exceptions
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_STATE_CONSISTENCY_CHECK_AND_RECO, Py_True) < 0) __PYX_ERR(0, 124, __pyx_L1_error)
0125: # TRUE FOR COMPETITION, inexpensive
+0126: CLEAN_UP_STATE_FOR_SUBSEQUENT_SCENARIO_RUNS = True # If NeoController is only instantiated once and run through multiple scenarios, this must be on!
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_CLEAN_UP_STATE_FOR_SUBSEQUENT_SC, Py_True) < 0) __PYX_ERR(0, 126, __pyx_L1_error)
0127: # FALSE FOR COMPETITION, slight performance hit
+0128: ENABLE_SANITY_CHECKS: Final[bool] = False # Miscellaneous sanity checks throughout the code
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_ENABLE_SANITY_CHECKS, Py_False) < 0) __PYX_ERR(0, 128, __pyx_L1_error)
0129: # TRUE FOR COMPETITION, performance boost
+0130: PRUNE_SIM_STATE_SEQUENCE: Final[bool] = True # Good to have on, because we don't really need the full state
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_PRUNE_SIM_STATE_SEQUENCE, Py_True) < 0) __PYX_ERR(0, 130, __pyx_L1_error)
0131: # FALSE FOR COMPETITION, slight performance hit
+0132: VALIDATE_SIMULATED_KEY_STATES: Final[bool] = False # Check for desyncs between Kessler and Neo's internal simulation of the game
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_VALIDATE_SIMULATED_KEY_STATES, Py_False) < 0) __PYX_ERR(0, 132, __pyx_L1_error)
0133: # FALSE FOR COMPETITION, major performance hit
+0134: VALIDATE_ALL_SIMULATED_STATES: Final[bool] = False # Super meticulous check for desyncs. This is very slow! Not recommended, since just verifying the key states will catch desyncs eventually. This is only good for if you need to know exactly when the desync occurred.
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_VALIDATE_ALL_SIMULATED_STATES, Py_False) < 0) __PYX_ERR(0, 134, __pyx_L1_error)
0135: # FALSE FOR COMPETITION, major performance hit
+0136: VERIFY_AST_TRACKING: Final[bool] = False # I'm using a very error prone way to track asteroids, where I very easily get the time of the asteroid wrong. This will check to make sure the times aren't mismatched, by checking whether the asteroid we're looking for appears in the wrong timestep.
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_VERIFY_AST_TRACKING, Py_False) < 0) __PYX_ERR(0, 136, __pyx_L1_error)
0137:
+0138: RESEED_RNG: Final[bool] = True # If the random seed was set outside of Neo, this will reseed the RNG to ensure good randomness
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_RESEED_RNG, Py_True) < 0) __PYX_ERR(0, 138, __pyx_L1_error)
0139:
0140: # Strategic variables
+0141: END_OF_SCENARIO_DONT_CARE_TIMESTEPS: Final[int] = 8
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_END_OF_SCENARIO_DONT_CARE_TIMEST, __pyx_mstate_global->__pyx_int_8) < 0) __PYX_ERR(0, 141, __pyx_L1_error)
+0142: ADVERSARY_ROTATION_TIMESTEP_FUDGE: Final[int] = 20 # Since we can't predict the adversary ship, in the targetting frontrun protection, fudge the adversary's ship to be more conservative. Since we predict they don't move, but they could be aiming toward the target.
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_ADVERSARY_ROTATION_TIMESTEP_FUDG, __pyx_mstate_global->__pyx_int_20) < 0) __PYX_ERR(0, 142, __pyx_L1_error)
0143: # TODO: Actually wait, doesn't the rotation timestep fudge just need to be 5, because each stationary targetting is just 5 timesteps long? So using 20 may be overkill!
+0144: UNWRAP_ASTEROID_COLLISION_FORECAST_TIME_HORIZON: Final[float] = 8.0
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_UNWRAP_ASTEROID_COLLISION_FORECA, __pyx_mstate_global->__pyx_float_8_0) < 0) __PYX_ERR(0, 144, __pyx_L1_error)
+0145: UNWRAP_ASTEROID_TARGET_SELECTION_TIME_HORIZON: Final[float] = 2.3 # The upper bound would be sqrt(1000.0**2 + 800.0**2)/800.0 + 1.0 = 2.600781059358212 s, which is 1 second to turn and the rest for bullet travel time. But this is the worst case scenario. In most cases, we don't need this much.
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_UNWRAP_ASTEROID_TARGET_SELECTION, __pyx_mstate_global->__pyx_float_2_3) < 0) __PYX_ERR(0, 145, __pyx_L1_error)
+0146: ASTEROID_SIZE_SHOT_PRIORITY: Final = (NAN, 1, 2, 3, 4) # Index i holds the priority of shooting an asteroid of size i (the first element is not important)
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+0147: fitness_function_weights: Optional[tuple[float, float, float, float, float, float, float, float, float]] = None
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_fitness_function_weights, Py_None) < 0) __PYX_ERR(0, 147, __pyx_L1_error)
+0148: MINE_DROP_COOLDOWN_FUDGE_TS: Final[int] = 61 # We can drop a mine every 30 timesteps. But it's better to wait a bit longer between mines, so then if I drop two and the first one blows me up, I have time to get out of the radius of the second blast!
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MINE_DROP_COOLDOWN_FUDGE_TS, __pyx_mstate_global->__pyx_int_61) < 0) __PYX_ERR(0, 148, __pyx_L1_error)
+0149: MINE_ASTEROID_COUNT_FUDGE_DISTANCE: Final[float] = 50.0
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MINE_ASTEROID_COUNT_FUDGE_DISTAN, __pyx_mstate_global->__pyx_float_50_0) < 0) __PYX_ERR(0, 149, __pyx_L1_error)
+0150: MINE_OPPORTUNITY_CHECK_INTERVAL_TS: Final[int] = 10
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+0151: MINE_OTHER_SHIP_RADIUS_FUDGE: Final[float] = 40.0
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MINE_OTHER_SHIP_RADIUS_FUDGE, __pyx_mstate_global->__pyx_float_40_0) < 0) __PYX_ERR(0, 151, __pyx_L1_error)
+0152: MINE_OTHER_SHIP_ASTEROID_COUNT_EQUIVALENT: Final[int] = 10
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MINE_OTHER_SHIP_ASTEROID_COUNT_E, __pyx_mstate_global->__pyx_int_10) < 0) __PYX_ERR(0, 152, __pyx_L1_error)
+0153: TARGETING_AIMING_UNDERTURN_ALLOWANCE_DEG: Final[float] = 6.0
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_TARGETING_AIMING_UNDERTURN_ALLOW, __pyx_mstate_global->__pyx_float_6_0) < 0) __PYX_ERR(0, 153, __pyx_L1_error)
0154: # (asteroid_safe_time_fitness, mine_safe_time_fitness, asteroids_fitness, sequence_length_fitness, other_ship_proximity_fitness, crash_fitness, asteroid_aiming_cone_fitness, placed_mine_fitness, overall_safe_time_fitness)
0155: # These fitness weights were picked after doing a ton of training with a genetic optimizer:
+0156: DEFAULT_FITNESS_WEIGHTS: Final = (0.0, 0.13359801675028146, 0.1488417344765523, 0.0, 0.06974293843076491, 0.20559835937182916, 0.12775194210275548, 0.14357775694291458, 0.17088925192490204) # Hand picked: (7.0, 10.0, 1.5, 0.5, 6.0, 12.0, 0.5, 2.0, 7.0)
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+0157: MANEUVER_CONVENIENT_SHOT_CHECKER_CONE_WIDTH_ANGLE_HALF: Final[float] = 45.0 # I'd expect the smaller this is, the faster. But apparently 30 can be slower than 45 for some reason. So I'll leave it on 45 lol
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+0158: MANEUVER_CONVENIENT_SHOT_CHECKER_CONE_WIDTH_ANGLE_HALF_COSINE: Final[float] = cos(math.radians(MANEUVER_CONVENIENT_SHOT_CHECKER_CONE_WIDTH_ANGLE_HALF))
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+0159: MANEUVER_BULLET_SIM_CULLING_CONE_WIDTH_ANGLE_HALF: Final[float] = 60.0
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+0165: AIMING_CONE_FITNESS_CONE_WIDTH_HALF_COSINE: Final[float] = cos(math.radians(AIMING_CONE_FITNESS_CONE_WIDTH_HALF))
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+0169: SHIP_AVOIDANCE_PADDING: Final = 25
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+0172: RANDOM_WALK_SCHEDULE_LENGTH: Final[int] = 3 # However many shots to plan out the direction for. Any shots after this, there isn't a limitation on direction.
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_RANDOM_WALK_SCHEDULE_LENGTH, __pyx_mstate_global->__pyx_int_3) < 0) __PYX_ERR(0, 172, __pyx_L1_error)
0173: # The reason we need this, is because without it, I'm checking whether I have the budget to do another iteration, but let's say I'm already taking 0 time. Kessler will pause for DELTA_TIME, taking up all the time, and I'd think I have no time to do anything!
0174: # So this fudge allows us to "push things" a bit, and fill up any remaining time so that Kessler is no longer pausing, and that time is spent in this controller to do more computations.
0175: # The side effect is that if we set this multiplier too low, then we're going to be operating at less than real time for sure.
0176: # Going slightly slower than real time is expected, since we always need to push things to know where that limit is
0177: # This isn't needed if the realtime multiplier is set to 0 within Kessler, so that Kessler is not unnecessarily pausing and running as fast as it can. But with realtime multiplier at 1, this is needed.
0178: # If realtime multiplier is set to some wacky value above 1, the game won't speed up and Neo will just use that time to do more iterations! To fix that, we need to change this multiplier to be above 1 too
0179: # You can kind of think of this as the percentage of real time we're going at. Kinda...
0180: # Also my logic is that if I always make sure I have enough time, then I’ll actually be within budget. Because say I take 10 time to do something. Well if I have 10 time left, I do it, but anything from 9 to 0 time left, I don’t. So on average, I leave out 10/2 time on the table. So that’s why I set the fudge multiplier to 0.5, so things average out to me being exactly on budget.
+0181: PERFORMANCE_CONTROLLER_PUSHING_THE_ENVELOPE_FUDGE_MULTIPLIER: Final[float] = 0.55
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+0182: MINIMUM_DELTA_TIME_FRACTION_BUDGET: Final[float] = 0.55 # One frametime is 1.0. If we give the other ship half of the time, then we should set this to 0.5. If we want non-realtime performance, we can change this to be >1
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+0183: ENABLE_PERFORMANCE_CONTROLLER: Final[bool] = True # The performance controller uses realtime, so it's nondeterministic. For debugging and using set random seeds, turn this off so the controller is determinstic again
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0184:
0185: # For the tuples below, the index is the number of lives Neo has left while going into the move
0186: # Index 0 in the tuples is not used, but to be safe I put a sane number there
0187:
+0188: MAX_RESPAWN_PER_TIMESTEP_SEARCH_ITERATIONS: Final[int] = 100
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+0189: MAX_MANEUVER_PER_TIMESTEP_SEARCH_ITERATIONS: Final[int] = 100
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0190: # For each row of the lookup table, the index in the row corresponds to the number of lives left, minus one
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+0192: (70, 40, 13), # Fitness from 0.1 to 0.2
__pyx_mstate_global->__pyx_tuple[34] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_70, __pyx_mstate_global->__pyx_int_40, __pyx_mstate_global->__pyx_int_13); if (unlikely(!__pyx_mstate_global->__pyx_tuple[34])) __PYX_ERR(0, 192, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[34]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[34]);
+0193: (60, 28, 12), # Fitness from 0.2 to 0.3
__pyx_mstate_global->__pyx_tuple[35] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_60, __pyx_mstate_global->__pyx_int_28, __pyx_mstate_global->__pyx_int_12); if (unlikely(!__pyx_mstate_global->__pyx_tuple[35])) __PYX_ERR(0, 193, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[35]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[35]);
+0194: (50, 26, 11), # Fitness from 0.3 to 0.4
__pyx_mstate_global->__pyx_tuple[36] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_50, __pyx_mstate_global->__pyx_int_26, __pyx_mstate_global->__pyx_int_11); if (unlikely(!__pyx_mstate_global->__pyx_tuple[36])) __PYX_ERR(0, 194, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[36]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[36]);
+0195: (45, 14, 10), # Fitness from 0.4 to 0.5
__pyx_mstate_global->__pyx_tuple[37] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_45, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_10); if (unlikely(!__pyx_mstate_global->__pyx_tuple[37])) __PYX_ERR(0, 195, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[37]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[37]);
+0196: (16, 12, 9), # Fitness from 0.5 to 0.6
__pyx_mstate_global->__pyx_tuple[38] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_16, __pyx_mstate_global->__pyx_int_12, __pyx_mstate_global->__pyx_int_9); if (unlikely(!__pyx_mstate_global->__pyx_tuple[38])) __PYX_ERR(0, 196, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[38]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[38]);
+0197: (15, 11, 8), # Fitness from 0.6 to 0.7
__pyx_mstate_global->__pyx_tuple[39] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_15, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_8); if (unlikely(!__pyx_mstate_global->__pyx_tuple[39])) __PYX_ERR(0, 197, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[39]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[39]);
+0198: (14, 10, 7), # Fitness from 0.7 to 0.8
__pyx_mstate_global->__pyx_tuple[40] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_10, __pyx_mstate_global->__pyx_int_7); if (unlikely(!__pyx_mstate_global->__pyx_tuple[40])) __PYX_ERR(0, 198, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[40]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[40]);
+0199: (13, 9, 6), # Fitness from 0.8 to 0.9
__pyx_mstate_global->__pyx_tuple[41] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_13, __pyx_mstate_global->__pyx_int_9, __pyx_mstate_global->__pyx_int_6); if (unlikely(!__pyx_mstate_global->__pyx_tuple[41])) __PYX_ERR(0, 199, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[41]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[41]);
+0200: (12, 8, 5)) # Fitness from 0.9 to 1.0
__pyx_mstate_global->__pyx_tuple[42] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_12, __pyx_mstate_global->__pyx_int_8, __pyx_mstate_global->__pyx_int_5); if (unlikely(!__pyx_mstate_global->__pyx_tuple[42])) __PYX_ERR(0, 200, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[42]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[42]);
+0201: MIN_RESPAWN_PER_PERIOD_SEARCH_ITERATIONS_LUT: Final = ((1000, 900, 440), # Fitness from 0.0 to 0.1
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+0202: (950, 810, 430), # Fitness from 0.1 to 0.2
__pyx_mstate_global->__pyx_tuple[45] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_950, __pyx_mstate_global->__pyx_int_810, __pyx_mstate_global->__pyx_int_430); if (unlikely(!__pyx_mstate_global->__pyx_tuple[45])) __PYX_ERR(0, 202, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[45]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[45]);
+0203: (925, 780, 420), # Fitness from 0.2 to 0.3
__pyx_mstate_global->__pyx_tuple[46] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_925, __pyx_mstate_global->__pyx_int_780, __pyx_mstate_global->__pyx_int_420); if (unlikely(!__pyx_mstate_global->__pyx_tuple[46])) __PYX_ERR(0, 203, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[46]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[46]);
+0204: (900, 730, 410), # Fitness from 0.3 to 0.4
__pyx_mstate_global->__pyx_tuple[47] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_900, __pyx_mstate_global->__pyx_int_730, __pyx_mstate_global->__pyx_int_410); if (unlikely(!__pyx_mstate_global->__pyx_tuple[47])) __PYX_ERR(0, 204, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[47]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[47]);
+0205: (850, 715, 400), # Fitness from 0.4 to 0.5
__pyx_mstate_global->__pyx_tuple[48] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_850, __pyx_mstate_global->__pyx_int_715, __pyx_mstate_global->__pyx_int_400); if (unlikely(!__pyx_mstate_global->__pyx_tuple[48])) __PYX_ERR(0, 205, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[48]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[48]);
+0206: (815, 680, 390), # Fitness from 0.5 to 0.6
__pyx_mstate_global->__pyx_tuple[49] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_815, __pyx_mstate_global->__pyx_int_680, __pyx_mstate_global->__pyx_int_390); if (unlikely(!__pyx_mstate_global->__pyx_tuple[49])) __PYX_ERR(0, 206, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[49]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[49]);
+0207: (790, 660, 380), # Fitness from 0.6 to 0.7
__pyx_mstate_global->__pyx_tuple[50] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_790, __pyx_mstate_global->__pyx_int_660, __pyx_mstate_global->__pyx_int_380); if (unlikely(!__pyx_mstate_global->__pyx_tuple[50])) __PYX_ERR(0, 207, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[50]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[50]);
+0208: (760, 640, 370), # Fitness from 0.7 to 0.8
__pyx_mstate_global->__pyx_tuple[51] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_760, __pyx_mstate_global->__pyx_int_640, __pyx_mstate_global->__pyx_int_370); if (unlikely(!__pyx_mstate_global->__pyx_tuple[51])) __PYX_ERR(0, 208, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[51]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[51]);
+0209: (730, 620, 360), # Fitness from 0.8 to 0.9
__pyx_mstate_global->__pyx_tuple[52] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_730, __pyx_mstate_global->__pyx_int_620, __pyx_mstate_global->__pyx_int_360); if (unlikely(!__pyx_mstate_global->__pyx_tuple[52])) __PYX_ERR(0, 209, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[52]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[52]);
+0210: (700, 600, 350)) # Fitness from 0.9 to 1.0
__pyx_mstate_global->__pyx_tuple[53] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_700, __pyx_mstate_global->__pyx_int_600, __pyx_mstate_global->__pyx_int_350); if (unlikely(!__pyx_mstate_global->__pyx_tuple[53])) __PYX_ERR(0, 210, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[53]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[53]);
+0211: MIN_MANEUVER_PER_TIMESTEP_SEARCH_ITERATIONS_LUT: Final = ((85, 65, 30), # Fitness from 0.0 to 0.1
__pyx_mstate_global->__pyx_tuple[55] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_85, __pyx_mstate_global->__pyx_int_65, __pyx_mstate_global->__pyx_int_30); if (unlikely(!__pyx_mstate_global->__pyx_tuple[55])) __PYX_ERR(0, 211, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[55]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[55]); /* … */ if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_TIMESTEP_SEARCH, __pyx_mstate_global->__pyx_tuple[65]) < 0) __PYX_ERR(0, 211, __pyx_L1_error) /* … */ __pyx_mstate_global->__pyx_tuple[65] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[55], __pyx_mstate_global->__pyx_tuple[56], __pyx_mstate_global->__pyx_tuple[57], __pyx_mstate_global->__pyx_tuple[58], __pyx_mstate_global->__pyx_tuple[59], __pyx_mstate_global->__pyx_tuple[60], __pyx_mstate_global->__pyx_tuple[61], __pyx_mstate_global->__pyx_tuple[62], __pyx_mstate_global->__pyx_tuple[63], __pyx_mstate_global->__pyx_tuple[64]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[65])) __PYX_ERR(0, 211, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[65]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[65]);
+0212: (65, 52, 25), # Fitness from 0.1 to 0.2
__pyx_mstate_global->__pyx_tuple[56] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_65, __pyx_mstate_global->__pyx_int_52, __pyx_mstate_global->__pyx_int_25); if (unlikely(!__pyx_mstate_global->__pyx_tuple[56])) __PYX_ERR(0, 212, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[56]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[56]);
+0213: (55, 40, 20), # Fitness from 0.2 to 0.3
__pyx_mstate_global->__pyx_tuple[57] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_55, __pyx_mstate_global->__pyx_int_40, __pyx_mstate_global->__pyx_int_20); if (unlikely(!__pyx_mstate_global->__pyx_tuple[57])) __PYX_ERR(0, 213, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[57]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[57]);
+0214: (45, 25, 15), # Fitness from 0.3 to 0.4
__pyx_mstate_global->__pyx_tuple[58] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_45, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_15); if (unlikely(!__pyx_mstate_global->__pyx_tuple[58])) __PYX_ERR(0, 214, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[58]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[58]);
+0215: (25, 12, 9), # Fitness from 0.4 to 0.5
__pyx_mstate_global->__pyx_tuple[59] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_12, __pyx_mstate_global->__pyx_int_9); if (unlikely(!__pyx_mstate_global->__pyx_tuple[59])) __PYX_ERR(0, 215, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[59]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[59]);
+0216: (20, 9, 6), # Fitness from 0.5 to 0.6
__pyx_mstate_global->__pyx_tuple[60] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_20, __pyx_mstate_global->__pyx_int_9, __pyx_mstate_global->__pyx_int_6); if (unlikely(!__pyx_mstate_global->__pyx_tuple[60])) __PYX_ERR(0, 216, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[60]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[60]);
+0217: (14, 7, 5), # Fitness from 0.6 to 0.7
__pyx_mstate_global->__pyx_tuple[61] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_7, __pyx_mstate_global->__pyx_int_5); if (unlikely(!__pyx_mstate_global->__pyx_tuple[61])) __PYX_ERR(0, 217, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[61]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[61]);
+0218: (8, 5, 4), # Fitness from 0.7 to 0.8
__pyx_mstate_global->__pyx_tuple[62] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_8, __pyx_mstate_global->__pyx_int_5, __pyx_mstate_global->__pyx_int_4); if (unlikely(!__pyx_mstate_global->__pyx_tuple[62])) __PYX_ERR(0, 218, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[62]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[62]);
+0219: (7, 4, 3), # Fitness from 0.8 to 0.9
__pyx_mstate_global->__pyx_tuple[63] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_7, __pyx_mstate_global->__pyx_int_4, __pyx_mstate_global->__pyx_int_3); if (unlikely(!__pyx_mstate_global->__pyx_tuple[63])) __PYX_ERR(0, 219, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[63]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[63]);
+0220: (6, 3, 2)) # Fitness from 0.9 to 1.0
__pyx_mstate_global->__pyx_tuple[64] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_6, __pyx_mstate_global->__pyx_int_3, __pyx_mstate_global->__pyx_int_2); if (unlikely(!__pyx_mstate_global->__pyx_tuple[64])) __PYX_ERR(0, 220, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[64]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[64]);
+0221: MIN_MANEUVER_PER_PERIOD_SEARCH_ITERATIONS_LUT = ((300, 230, 105), # Fitness from 0.0 to 0.1
__pyx_mstate_global->__pyx_tuple[66] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_300, __pyx_mstate_global->__pyx_int_230, __pyx_mstate_global->__pyx_int_105); if (unlikely(!__pyx_mstate_global->__pyx_tuple[66])) __PYX_ERR(0, 221, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[66]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[66]); /* … */ if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_PERIOD_SEARCH_I, __pyx_mstate_global->__pyx_tuple[76]) < 0) __PYX_ERR(0, 221, __pyx_L1_error) /* … */ __pyx_mstate_global->__pyx_tuple[76] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[66], __pyx_mstate_global->__pyx_tuple[67], __pyx_mstate_global->__pyx_tuple[68], __pyx_mstate_global->__pyx_tuple[69], __pyx_mstate_global->__pyx_tuple[70], __pyx_mstate_global->__pyx_tuple[71], __pyx_mstate_global->__pyx_tuple[72], __pyx_mstate_global->__pyx_tuple[73], __pyx_mstate_global->__pyx_tuple[74], __pyx_mstate_global->__pyx_tuple[75]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[76])) __PYX_ERR(0, 221, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[76]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[76]);
+0222: (230, 185, 88), # Fitness from 0.1 to 0.2
__pyx_mstate_global->__pyx_tuple[67] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_230, __pyx_mstate_global->__pyx_int_185, __pyx_mstate_global->__pyx_int_88); if (unlikely(!__pyx_mstate_global->__pyx_tuple[67])) __PYX_ERR(0, 222, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[67]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[67]);
+0223: (193, 140, 70), # Fitness from 0.2 to 0.3
__pyx_mstate_global->__pyx_tuple[68] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_193, __pyx_mstate_global->__pyx_int_140, __pyx_mstate_global->__pyx_int_70); if (unlikely(!__pyx_mstate_global->__pyx_tuple[68])) __PYX_ERR(0, 223, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[68]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[68]);
+0224: (160, 88, 55), # Fitness from 0.3 to 0.4
__pyx_mstate_global->__pyx_tuple[69] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_160, __pyx_mstate_global->__pyx_int_88, __pyx_mstate_global->__pyx_int_55); if (unlikely(!__pyx_mstate_global->__pyx_tuple[69])) __PYX_ERR(0, 224, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[69]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[69]);
+0225: (88, 42, 32), # Fitness from 0.4 to 0.5
__pyx_mstate_global->__pyx_tuple[70] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_88, __pyx_mstate_global->__pyx_int_42, __pyx_mstate_global->__pyx_int_32); if (unlikely(!__pyx_mstate_global->__pyx_tuple[70])) __PYX_ERR(0, 225, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[70]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[70]);
+0226: (56, 28, 21), # Fitness from 0.5 to 0.6
__pyx_mstate_global->__pyx_tuple[71] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_56, __pyx_mstate_global->__pyx_int_28, __pyx_mstate_global->__pyx_int_21); if (unlikely(!__pyx_mstate_global->__pyx_tuple[71])) __PYX_ERR(0, 226, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[71]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[71]);
+0227: (35, 25, 18), # Fitness from 0.6 to 0.7
__pyx_mstate_global->__pyx_tuple[72] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_35, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_18); if (unlikely(!__pyx_mstate_global->__pyx_tuple[72])) __PYX_ERR(0, 227, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[72]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[72]);
+0228: (25, 18, 14), # Fitness from 0.7 to 0.8
__pyx_mstate_global->__pyx_tuple[73] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_18, __pyx_mstate_global->__pyx_int_14); if (unlikely(!__pyx_mstate_global->__pyx_tuple[73])) __PYX_ERR(0, 228, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[73]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[73]);
+0229: (14, 11, 10), # Fitness from 0.8 to 0.9
__pyx_mstate_global->__pyx_tuple[74] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_10); if (unlikely(!__pyx_mstate_global->__pyx_tuple[74])) __PYX_ERR(0, 229, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[74]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[74]);
+0230: (11, 11, 7)) # Fitness from 0.9 to 1.0
__pyx_mstate_global->__pyx_tuple[75] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_7); if (unlikely(!__pyx_mstate_global->__pyx_tuple[75])) __PYX_ERR(0, 230, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[75]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[75]);
+0231: MIN_MANEUVER_PER_PERIOD_SEARCH_ITERATIONS_IF_WILL_DIE_LUT = ((860, 680, 340), # Fitness from 0.0 to 0.1
__pyx_mstate_global->__pyx_tuple[77] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_860, __pyx_mstate_global->__pyx_int_680, __pyx_mstate_global->__pyx_int_340); if (unlikely(!__pyx_mstate_global->__pyx_tuple[77])) __PYX_ERR(0, 231, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[77]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[77]); /* … */ if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_PERIOD_SEARCH_I_2, __pyx_mstate_global->__pyx_tuple[87]) < 0) __PYX_ERR(0, 231, __pyx_L1_error) /* … */ __pyx_mstate_global->__pyx_tuple[87] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[77], __pyx_mstate_global->__pyx_tuple[78], __pyx_mstate_global->__pyx_tuple[79], __pyx_mstate_global->__pyx_tuple[80], __pyx_mstate_global->__pyx_tuple[81], __pyx_mstate_global->__pyx_tuple[82], __pyx_mstate_global->__pyx_tuple[83], __pyx_mstate_global->__pyx_tuple[84], __pyx_mstate_global->__pyx_tuple[85], __pyx_mstate_global->__pyx_tuple[86]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[87])) __PYX_ERR(0, 231, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[87]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[87]);
+0232: (830, 660, 330), # Fitness from 0.1 to 0.2
__pyx_mstate_global->__pyx_tuple[78] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_830, __pyx_mstate_global->__pyx_int_660, __pyx_mstate_global->__pyx_int_330); if (unlikely(!__pyx_mstate_global->__pyx_tuple[78])) __PYX_ERR(0, 232, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[78]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[78]);
+0233: (800, 640, 320), # Fitness from 0.2 to 0.3
__pyx_mstate_global->__pyx_tuple[79] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_800, __pyx_mstate_global->__pyx_int_640, __pyx_mstate_global->__pyx_int_320); if (unlikely(!__pyx_mstate_global->__pyx_tuple[79])) __PYX_ERR(0, 233, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[79]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[79]);
+0234: (770, 620, 310), # Fitness from 0.3 to 0.4
__pyx_mstate_global->__pyx_tuple[80] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_770, __pyx_mstate_global->__pyx_int_620, __pyx_mstate_global->__pyx_int_310); if (unlikely(!__pyx_mstate_global->__pyx_tuple[80])) __PYX_ERR(0, 234, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[80]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[80]);
+0235: (740, 600, 300), # Fitness from 0.4 to 0.5
__pyx_mstate_global->__pyx_tuple[81] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_740, __pyx_mstate_global->__pyx_int_600, __pyx_mstate_global->__pyx_int_300); if (unlikely(!__pyx_mstate_global->__pyx_tuple[81])) __PYX_ERR(0, 235, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[81]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[81]);
+0236: (710, 580, 290), # Fitness from 0.5 to 0.6
__pyx_mstate_global->__pyx_tuple[82] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_710, __pyx_mstate_global->__pyx_int_580, __pyx_mstate_global->__pyx_int_290); if (unlikely(!__pyx_mstate_global->__pyx_tuple[82])) __PYX_ERR(0, 236, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[82]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[82]);
+0237: (690, 560, 280), # Fitness from 0.6 to 0.7
__pyx_mstate_global->__pyx_tuple[83] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_690, __pyx_mstate_global->__pyx_int_560, __pyx_mstate_global->__pyx_int_280); if (unlikely(!__pyx_mstate_global->__pyx_tuple[83])) __PYX_ERR(0, 237, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[83]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[83]);
+0238: (660, 540, 270), # Fitness from 0.7 to 0.8
__pyx_mstate_global->__pyx_tuple[84] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_660, __pyx_mstate_global->__pyx_int_540, __pyx_mstate_global->__pyx_int_270); if (unlikely(!__pyx_mstate_global->__pyx_tuple[84])) __PYX_ERR(0, 238, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[84]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[84]);
+0239: (630, 520, 260), # Fitness from 0.8 to 0.9
__pyx_mstate_global->__pyx_tuple[85] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_630, __pyx_mstate_global->__pyx_int_520, __pyx_mstate_global->__pyx_int_260); if (unlikely(!__pyx_mstate_global->__pyx_tuple[85])) __PYX_ERR(0, 239, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[85]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[85]);
+0240: (600, 500, 250)) # Fitness from 0.9 to 1.0
__pyx_mstate_global->__pyx_tuple[86] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_600, __pyx_mstate_global->__pyx_int_500, __pyx_mstate_global->__pyx_int_250); if (unlikely(!__pyx_mstate_global->__pyx_tuple[86])) __PYX_ERR(0, 240, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[86]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[86]);
0241:
0242: # State dumping for debug
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+0245: REALITY_STATE_DUMP: Final[bool] = False # Dump each game state to json
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+0246: SIMULATION_STATE_DUMP: Final[bool] = False # Dump each simulated game state to json
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+0248: GAMESTATE_PLOTTING = False # For whatever reason having this set to final gives a mypyc compilation error
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+0249: BULLET_SIM_PLOTTING: Final[bool] = False
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+0250: NEXT_TARGET_PLOTTING = False # For whatever reason having this set to final gives a mypyc compilation error
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_NEXT_TARGET_PLOTTING, Py_False) < 0) __PYX_ERR(0, 250, __pyx_L1_error)
+0251: MANEUVER_SIM_PLOTTING: Final[bool] = False
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+0252: START_GAMESTATE_PLOTTING_AT_SECOND: Final[float] = 0.0
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0256:
0257: # Debug settings
+0258: ENABLE_BAD_LUCK_EXCEPTION = False
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0260:
0261: # Quantities
+0262: cdef double TAD = 0.1
__pyx_v_14neo_controller_TAD = 0.1;
+0263: cdef double GRAIN = 0.001
__pyx_v_14neo_controller_GRAIN = 0.001;
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__pyx_v_14neo_controller_EPS = 0.0000000001;
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0267:
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__PYX_ERR(0, 268, __pyx_L1_error)
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+0270: cdef double TAU = 2.0*pi
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0271:
0272: # Kessler game constants
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if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_FIRE_COOLDOWN_TS, __pyx_mstate_global->__pyx_int_3) < 0) __PYX_ERR(0, 273, __pyx_L1_error)
+0274: MINE_COOLDOWN_TS: Final[int] = 30
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MINE_COOLDOWN_TS, __pyx_mstate_global->__pyx_int_30) < 0) __PYX_ERR(0, 274, __pyx_L1_error)
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if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_BULLET_SPEED, __pyx_mstate_global->__pyx_float_800_0) < 0) __PYX_ERR(0, 278, __pyx_L1_error)
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+0280: BULLET_LENGTH: Final[float] = 12.0 # px
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+0287: SHIP_MAX_TURN_RATE_RAD_TS: Final[float] = math.radians(SHIP_MAX_TURN_RATE_DEG_TS)
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0429:
0430: '''
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0433:
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0466:
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0473:
0474: def copy(self) -> 'Asteroid':
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0479: mass=self.mass,
0480: radius=self.radius,
0481: timesteps_until_appearance=self.timesteps_until_appearance
0482: )
0483: '''
0484:
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double turn_rate_min;
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double drag;
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0629: # self.can_deploy_mine == other.can_deploy_mine and
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0635:
0636: '''
0637: class Ship:
0638: __slots__ = ('is_respawning', 'position', 'velocity', 'speed', 'heading', 'mass', 'radius', 'id', 'team', 'lives_remaining', 'bullets_remaining', 'mines_remaining', 'can_fire', 'fire_rate', 'can_deploy_mine', 'mine_deploy_rate', 'thrust_range', 'turn_rate_range', 'max_speed', 'drag')
0639:
0640: def __init__(self, is_respawning: bool = False, position: tuple[float, float] = (0.0, 0.0), velocity: tuple[float, float] = (0.0, 0.0), speed: float = 0.0, heading: float = 0.0, mass: float = 0.0, radius: float = 0.0, id: int = 0, team: str = '', lives_remaining: int = 0, bullets_remaining: int = 0, mines_remaining: int = 0, can_fire: bool = True, fire_rate: float = 0.0, can_deploy_mine: bool = True, mine_deploy_rate: float = 0.0, thrust_range: tuple[float, float] = (-SHIP_MAX_THRUST, SHIP_MAX_THRUST), turn_rate_range: tuple[float, float] = (-SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE), max_speed: float = SHIP_MAX_SPEED, drag: float = SHIP_DRAG) -> None:
0641: self.is_respawning = is_respawning
0642: self.position = position
0643: self.velocity = velocity
0644: self.speed = speed
0645: self.heading = heading
0646: self.mass = mass
0647: self.radius = radius
0648: self.id = id
0649: self.team = team
0650: self.lives_remaining = lives_remaining
0651: self.bullets_remaining = bullets_remaining
0652: self.mines_remaining = mines_remaining
0653: self.can_fire = can_fire
0654: self.fire_rate = fire_rate
0655: self.can_deploy_mine = can_deploy_mine
0656: self.mine_deploy_rate = mine_deploy_rate
0657: self.thrust_range = thrust_range
0658: self.turn_rate_range = turn_rate_range
0659: self.max_speed = max_speed
0660: self.drag = drag
0661:
0662: def __str__(self) -> str:
0663: return f'Ship(is_respawning={self.is_respawning}, position={self.position}, velocity={self.velocity}, speed={self.speed}, heading={self.heading}, mass={self.mass}, radius={self.radius}, id={self.id}, team="{self.team}", lives_remaining={self.lives_remaining}, bullets_remaining={self.bullets_remaining}, mines_remaining={self.mines_remaining}, can_fire={self.can_fire}, fire_rate={self.fire_rate}, can_deploy_mine={self.can_deploy_mine}, mine_deploy_rate={self.mine_deploy_rate}, thrust_range={self.thrust_range}, turn_rate_range={self.turn_rate_range}, max_speed={self.max_speed}, drag={self.drag})'
0664:
0665: def __repr__(self) -> str:
0666: return self.__str__()
0667:
0668: def copy(self) -> 'Ship':
0669: return Ship(
0670: is_respawning=self.is_respawning,
0671: position=self.position,
0672: velocity=self.velocity,
0673: speed=self.speed,
0674: heading=self.heading,
0675: mass=self.mass,
0676: radius=self.radius,
0677: id=self.id,
0678: team=self.team,
0679: lives_remaining=self.lives_remaining,
0680: bullets_remaining=self.bullets_remaining,
0681: mines_remaining=self.mines_remaining,
0682: can_fire=self.can_fire,
0683: fire_rate=self.fire_rate,
0684: can_deploy_mine=self.can_deploy_mine,
0685: mine_deploy_rate=self.mine_deploy_rate,
0686: thrust_range=self.thrust_range,
0687: turn_rate_range=self.turn_rate_range,
0688: max_speed=self.max_speed,
0689: drag=self.drag
0690: )
0691:
0692: def __eq__(self, other: object) -> bool:
0693: if not isinstance(other, Ship):
0694: return NotImplemented
0695: return (self.is_respawning == other.is_respawning and
0696: self.position == other.position and
0697: self.velocity == other.velocity and
0698: self.speed == other.speed and
0699: self.heading == other.heading and
0700: self.mass == other.mass and
0701: self.radius == other.radius and
0702: self.id == other.id and
0703: self.team == other.team and
0704: self.lives_remaining == other.lives_remaining and
0705: self.bullets_remaining == other.bullets_remaining and
0706: self.mines_remaining == other.mines_remaining and
0707: #self.can_fire == other.can_fire and
0708: self.fire_rate == other.fire_rate and
0709: #self.can_deploy_mine == other.can_deploy_mine and
0710: self.mine_deploy_rate == other.mine_deploy_rate and
0711: self.thrust_range == other.thrust_range and
0712: self.turn_rate_range == other.turn_rate_range and
0713: self.max_speed == other.max_speed and
0714: self.drag == other.drag)
0715: '''
0716:
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0874:
0875:
0876: '''
0877: class Bullet:
0878: __slots__ = ('position', 'velocity', 'heading', 'mass', 'tail_delta')
0879:
0880: def __init__(self, position: tuple[float, float] = (0.0, 0.0), velocity: tuple[float, float] = (0.0, 0.0), heading: float = 0.0, mass: float = BULLET_MASS, tail_delta: Optional[tuple[float, float]] = None) -> None:
0881: self.position = position
0882: self.velocity = velocity
0883: self.heading = heading
0884: self.mass = mass
0885: if tail_delta is not None:
0886: self.tail_delta = tail_delta
0887: else:
0888: self.tail_delta = (-BULLET_LENGTH*cos(radians(heading)), -BULLET_LENGTH*sin(radians(heading)))
0889:
0890: def __str__(self) -> str:
0891: return f'Bullet(position={self.position}, velocity={self.velocity}, heading={self.heading}, mass={self.mass}, tail_delta={self.tail_delta})'
0892:
0893: def __repr__(self) -> str:
0894: return self.__str__()
0895:
0896: def copy(self) -> 'Bullet':
0897: return Bullet(
0898: position=self.position,
0899: velocity=self.velocity,
0900: heading=self.heading,
0901: mass=self.mass,
0902: tail_delta=self.tail_delta
0903: )
0904:
0905: def __eq__(self, other: object) -> bool:
0906: if not isinstance(other, Bullet):
0907: return NotImplemented
0908: return (self.position == other.position and
0909: self.velocity == other.velocity and
0910: self.heading == other.heading and
0911: self.mass == other.mass and
0912: self.tail_delta == other.tail_delta)
0913: '''
0914:
0915:
0916:
0917: '''
0918: class GameState:
0919: __slots__ = ('asteroids', 'ships', 'bullets', 'mines', 'map_size', 'time', 'delta_time', 'sim_frame', 'time_limit')
0920:
0921: def __init__(self, asteroids: list[Asteroid], ships: list[Ship], bullets: list[Bullet], mines: list[Mine], map_size: tuple[float, float] = (0.0, 0.0), time: float = 0.0, delta_time: float = 0.0, sim_frame: int = 0, time_limit: float = 0.0) -> None:
0922: self.asteroids = asteroids
0923: self.ships = ships
0924: self.bullets = bullets
0925: self.mines = mines
0926: self.map_size = map_size
0927: self.time = time
0928: self.delta_time = delta_time
0929: self.sim_frame = sim_frame
0930: self.time_limit = time_limit
0931:
0932: def __str__(self) -> str:
0933: return f'GameState(asteroids={self.asteroids}, ships={self.ships}, bullets={self.bullets}, mines={self.mines}, map_size={self.map_size}, time={self.time}, delta_time={self.delta_time}, sim_frame={self.sim_frame}, time_limit={self.time_limit})'
0934:
0935: def __repr__(self) -> str:
0936: return self.__str__()
0937:
0938: def copy(self) -> 'GameState':
0939: return GameState(
0940: asteroids=[asteroid.copy() for asteroid in self.asteroids],
0941: ships=[ship.copy() for ship in self.ships],
0942: bullets=[bullet.copy() for bullet in self.bullets],
0943: mines=[mine.copy() for mine in self.mines],
0944: map_size=self.map_size,
0945: time=self.time,
0946: delta_time=self.delta_time,
0947: sim_frame=self.sim_frame,
0948: time_limit=self.time_limit
0949: )
0950:
0951: def __eq__(self, other: object) -> bool:
0952: if not isinstance(other, GameState):
0953: return NotImplemented
0954:
0955: # Compare asteroids
0956: if len(self.asteroids) != len(other.asteroids):
0957: print("Asteroids lists are different lengths!")
0958: return False
0959: for i, (ast_a, ast_b) in enumerate(zip(self.asteroids, other.asteroids)):
0960: if ast_a != ast_b:
0961: print(f"Asteroids don't match at index {i}: {ast_a} vs {ast_b}")
0962: return False
0963:
0964: # Compare bullets
0965: if len(self.bullets) != len(other.bullets):
0966: print("Bullet lists are different lengths!")
0967: return False
0968: for i, (bul_a, bul_b) in enumerate(zip(self.bullets, other.bullets)):
0969: if bul_a != bul_b:
0970: print(f"Bullets don't match at index {i}: {bul_a} vs {bul_b}")
0971: return False
0972:
0973: # Compare mines
0974: if len(self.mines) != len(other.mines):
0975: print("Mine lists are different lengths!")
0976: return False
0977: for i, (mine_a, mine_b) in enumerate(zip(self.mines, other.mines)):
0978: if mine_a != mine_b:
0979: print(f"Mines don't match at index {i}: {mine_a} vs {mine_b}")
0980: return False
0981:
0982: # Compare ships
0983: #if len(self.ships) != len(other.ships):
0984: # print("Ships lists are different lengths!")
0985: # return False
0986: #for i, (ship_a, ship_b) in enumerate(zip(self.ships, other.ships)):
0987: # if ship_a != ship_b:
0988: # print(f"Ships don't match at index {i}: {ship_a} vs {ship_b}")
0989: # return False
0990:
0991: # Trivial properties like timesteps are not compared, assuming they don't affect game state equality
0992: return True
0993: '''
0994:
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PyObject *ships;
PyObject *bullets;
PyObject *mines;
double map_size_x;
double map_size_y;
double time;
double delta_time;
int sim_frame;
double time_limit;
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__Pyx_INCREF(__pyx_builtin_print);
__pyx_t_10 = __pyx_builtin_print;
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__Pyx_GOTREF(__pyx_t_12);
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__Pyx_GOTREF(__pyx_t_15);
__pyx_t_16[0] = __pyx_mstate_global->__pyx_kp_u_Asteroids_don_t_match_at_index;
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{
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__Pyx_XDECREF(__pyx_r); __Pyx_INCREF(Py_False); __pyx_r = Py_False; __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; goto __pyx_L0;
1068:
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__Pyx_GOTREF(__pyx_t_6);
__pyx_t_15 = __Pyx_PyObject_FormatSimple(__pyx_v_bul_a, __pyx_mstate_global->__pyx_empty_unicode); if (unlikely(!__pyx_t_15)) __PYX_ERR(0, 1075, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_15);
__pyx_t_14 = __Pyx_PyObject_FormatSimple(__pyx_v_bul_b, __pyx_mstate_global->__pyx_empty_unicode); if (unlikely(!__pyx_t_14)) __PYX_ERR(0, 1075, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_14);
__pyx_t_16[0] = __pyx_mstate_global->__pyx_kp_u_Bullets_don_t_match_at_index;
__pyx_t_16[1] = __pyx_t_6;
__pyx_t_16[2] = __pyx_mstate_global->__pyx_kp_u__10;
__pyx_t_16[3] = __pyx_t_15;
__pyx_t_16[4] = __pyx_mstate_global->__pyx_kp_u_vs;
__pyx_t_16[5] = __pyx_t_14;
__pyx_t_12 = __Pyx_PyUnicode_Join(__pyx_t_16, 6, 29 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_6) + 2 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_15) + 4 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_14), 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_6) | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_15) | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_14));
if (unlikely(!__pyx_t_12)) __PYX_ERR(0, 1075, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_12);
__Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0;
__Pyx_DECREF(__pyx_t_15); __pyx_t_15 = 0;
__Pyx_DECREF(__pyx_t_14); __pyx_t_14 = 0;
__pyx_t_8 = 1;
{
PyObject *__pyx_callargs[2] = {__pyx_t_9, __pyx_t_12};
__pyx_t_7 = __Pyx_PyObject_FastCall(__pyx_t_17, __pyx_callargs+__pyx_t_8, (2-__pyx_t_8) | (__pyx_t_8*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET));
__Pyx_XDECREF(__pyx_t_9); __pyx_t_9 = 0;
__Pyx_DECREF(__pyx_t_12); __pyx_t_12 = 0;
__Pyx_DECREF(__pyx_t_17); __pyx_t_17 = 0;
if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 1075, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_7);
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__Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0;
+1076: return False
__Pyx_XDECREF(__pyx_r); __Pyx_INCREF(Py_False); __pyx_r = Py_False; __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; goto __pyx_L0;
1077:
1078: # Compare mines
+1079: if len(self.mines) != len(other.mines):
__pyx_t_3 = __pyx_v_self->mines; __Pyx_INCREF(__pyx_t_3); if (unlikely(__pyx_t_3 == Py_None)) { PyErr_SetString(PyExc_TypeError, "object of type 'NoneType' has no len()"); __PYX_ERR(0, 1079, __pyx_L1_error) } __pyx_t_4 = __Pyx_PyList_GET_SIZE(__pyx_t_3); if (unlikely(__pyx_t_4 == ((Py_ssize_t)-1))) __PYX_ERR(0, 1079, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_v_other, __pyx_mstate_global->__pyx_n_u_mines); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 1079, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __pyx_t_5 = PyObject_Length(__pyx_t_3); if (unlikely(__pyx_t_5 == ((Py_ssize_t)-1))) __PYX_ERR(0, 1079, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_t_2 = (__pyx_t_4 != __pyx_t_5); if (__pyx_t_2) { /* … */ }
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__pyx_t_10 = NULL;
__Pyx_INCREF(__pyx_builtin_print);
__pyx_t_7 = __pyx_builtin_print;
__pyx_t_8 = 1;
{
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__pyx_t_3 = __Pyx_PyObject_FastCall(__pyx_t_7, __pyx_callargs+__pyx_t_8, (2-__pyx_t_8) | (__pyx_t_8*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET));
__Pyx_XDECREF(__pyx_t_10); __pyx_t_10 = 0;
__Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0;
if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 1080, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_3);
}
__Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0;
+1081: return False
__Pyx_XDECREF(__pyx_r); __Pyx_INCREF(Py_False); __pyx_r = Py_False; goto __pyx_L0;
+1082: for i, (mine_a, mine_b) in enumerate(zip(self.mines, other.mines)):
__Pyx_INCREF(__pyx_mstate_global->__pyx_int_0); __pyx_t_3 = __pyx_mstate_global->__pyx_int_0; __pyx_t_10 = NULL; __Pyx_INCREF(__pyx_builtin_zip); __pyx_t_17 = __pyx_builtin_zip; __pyx_t_12 = __Pyx_PyObject_GetAttrStr(__pyx_v_other, __pyx_mstate_global->__pyx_n_u_mines); if (unlikely(!__pyx_t_12)) __PYX_ERR(0, 1082, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_12); __pyx_t_8 = 1; { PyObject *__pyx_callargs[3] = {__pyx_t_10, __pyx_v_self->mines, __pyx_t_12}; __pyx_t_7 = __Pyx_PyObject_FastCall(__pyx_t_17, __pyx_callargs+__pyx_t_8, (3-__pyx_t_8) | (__pyx_t_8*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)); __Pyx_XDECREF(__pyx_t_10); __pyx_t_10 = 0; __Pyx_DECREF(__pyx_t_12); __pyx_t_12 = 0; __Pyx_DECREF(__pyx_t_17); __pyx_t_17 = 0; if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 1082, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); } if (likely(PyList_CheckExact(__pyx_t_7)) || PyTuple_CheckExact(__pyx_t_7)) { __pyx_t_17 = __pyx_t_7; __Pyx_INCREF(__pyx_t_17); __pyx_t_5 = 0; __pyx_t_11 = NULL; } else { __pyx_t_5 = -1; __pyx_t_17 = PyObject_GetIter(__pyx_t_7); if (unlikely(!__pyx_t_17)) __PYX_ERR(0, 1082, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_17); __pyx_t_11 = (CYTHON_COMPILING_IN_LIMITED_API) ? PyIter_Next : __Pyx_PyObject_GetIterNextFunc(__pyx_t_17); if (unlikely(!__pyx_t_11)) __PYX_ERR(0, 1082, __pyx_L1_error) } __Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0; for (;;) { if (likely(!__pyx_t_11)) { if (likely(PyList_CheckExact(__pyx_t_17))) { { Py_ssize_t __pyx_temp = __Pyx_PyList_GET_SIZE(__pyx_t_17); #if !CYTHON_ASSUME_SAFE_SIZE if (unlikely((__pyx_temp < 0))) __PYX_ERR(0, 1082, __pyx_L1_error) #endif if (__pyx_t_5 >= __pyx_temp) break; } __pyx_t_7 = __Pyx_PyList_GetItemRef(__pyx_t_17, __pyx_t_5); ++__pyx_t_5; } else { { Py_ssize_t __pyx_temp = __Pyx_PyTuple_GET_SIZE(__pyx_t_17); #if !CYTHON_ASSUME_SAFE_SIZE if (unlikely((__pyx_temp < 0))) __PYX_ERR(0, 1082, __pyx_L1_error) #endif if (__pyx_t_5 >= __pyx_temp) break; } #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS __pyx_t_7 = __Pyx_NewRef(PyTuple_GET_ITEM(__pyx_t_17, __pyx_t_5)); #else __pyx_t_7 = __Pyx_PySequence_ITEM(__pyx_t_17, __pyx_t_5); #endif ++__pyx_t_5; } if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 1082, __pyx_L1_error) } else { __pyx_t_7 = __pyx_t_11(__pyx_t_17); if (unlikely(!__pyx_t_7)) { PyObject* exc_type = PyErr_Occurred(); if (exc_type) { if (unlikely(!__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) __PYX_ERR(0, 1082, __pyx_L1_error) PyErr_Clear(); } break; } } __Pyx_GOTREF(__pyx_t_7); if ((likely(PyTuple_CheckExact(__pyx_t_7))) || (PyList_CheckExact(__pyx_t_7))) { PyObject* sequence = __pyx_t_7; Py_ssize_t size = __Pyx_PySequence_SIZE(sequence); if (unlikely(size != 2)) { if (size > 2) __Pyx_RaiseTooManyValuesError(2); else if (size >= 0) __Pyx_RaiseNeedMoreValuesError(size); __PYX_ERR(0, 1082, __pyx_L1_error) } #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS if (likely(PyTuple_CheckExact(sequence))) { __pyx_t_12 = PyTuple_GET_ITEM(sequence, 0); __Pyx_INCREF(__pyx_t_12); __pyx_t_10 = PyTuple_GET_ITEM(sequence, 1); __Pyx_INCREF(__pyx_t_10); } else { __pyx_t_12 = __Pyx_PyList_GetItemRef(sequence, 0); if (unlikely(!__pyx_t_12)) __PYX_ERR(0, 1082, __pyx_L1_error) __Pyx_XGOTREF(__pyx_t_12); __pyx_t_10 = __Pyx_PyList_GetItemRef(sequence, 1); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 1082, __pyx_L1_error) __Pyx_XGOTREF(__pyx_t_10); } #else __pyx_t_12 = __Pyx_PySequence_ITEM(sequence, 0); if (unlikely(!__pyx_t_12)) __PYX_ERR(0, 1082, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_12); __pyx_t_10 = __Pyx_PySequence_ITEM(sequence, 1); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 1082, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); #endif __Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0; } else { Py_ssize_t index = -1; __pyx_t_9 = PyObject_GetIter(__pyx_t_7); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 1082, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0; __pyx_t_13 = (CYTHON_COMPILING_IN_LIMITED_API) ? PyIter_Next : __Pyx_PyObject_GetIterNextFunc(__pyx_t_9); index = 0; __pyx_t_12 = __pyx_t_13(__pyx_t_9); if (unlikely(!__pyx_t_12)) goto __pyx_L21_unpacking_failed; __Pyx_GOTREF(__pyx_t_12); index = 1; __pyx_t_10 = __pyx_t_13(__pyx_t_9); if (unlikely(!__pyx_t_10)) goto __pyx_L21_unpacking_failed; __Pyx_GOTREF(__pyx_t_10); if (__Pyx_IternextUnpackEndCheck(__pyx_t_13(__pyx_t_9), 2) < 0) __PYX_ERR(0, 1082, __pyx_L1_error) __pyx_t_13 = NULL; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; goto __pyx_L22_unpacking_done; __pyx_L21_unpacking_failed:; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __pyx_t_13 = NULL; if (__Pyx_IterFinish() == 0) __Pyx_RaiseNeedMoreValuesError(index); __PYX_ERR(0, 1082, __pyx_L1_error) __pyx_L22_unpacking_done:; } __Pyx_XDECREF_SET(__pyx_v_mine_a, __pyx_t_12); __pyx_t_12 = 0; __Pyx_XDECREF_SET(__pyx_v_mine_b, __pyx_t_10); __pyx_t_10 = 0; __Pyx_INCREF(__pyx_t_3); __Pyx_XDECREF_SET(__pyx_v_i, __pyx_t_3); __pyx_t_7 = __Pyx_PyLong_AddObjC(__pyx_t_3, __pyx_mstate_global->__pyx_int_1, 1, 0, 0); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 1082, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = __pyx_t_7; __pyx_t_7 = 0; /* … */ } __Pyx_DECREF(__pyx_t_17); __pyx_t_17 = 0; __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0;
+1083: if mine_a != mine_b:
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+1084: print(f"Mines don't match at index {i}: {mine_a} vs {mine_b}")
__pyx_t_10 = NULL;
__Pyx_INCREF(__pyx_builtin_print);
__pyx_t_12 = __pyx_builtin_print;
__pyx_t_9 = __Pyx_PyObject_FormatSimple(__pyx_v_i, __pyx_mstate_global->__pyx_empty_unicode); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 1084, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_9);
__pyx_t_14 = __Pyx_PyObject_FormatSimple(__pyx_v_mine_a, __pyx_mstate_global->__pyx_empty_unicode); if (unlikely(!__pyx_t_14)) __PYX_ERR(0, 1084, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_14);
__pyx_t_15 = __Pyx_PyObject_FormatSimple(__pyx_v_mine_b, __pyx_mstate_global->__pyx_empty_unicode); if (unlikely(!__pyx_t_15)) __PYX_ERR(0, 1084, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_15);
__pyx_t_16[0] = __pyx_mstate_global->__pyx_kp_u_Mines_don_t_match_at_index;
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__pyx_t_16[2] = __pyx_mstate_global->__pyx_kp_u__10;
__pyx_t_16[3] = __pyx_t_14;
__pyx_t_16[4] = __pyx_mstate_global->__pyx_kp_u_vs;
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__pyx_t_6 = __Pyx_PyUnicode_Join(__pyx_t_16, 6, 27 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_9) + 2 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_14) + 4 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_15), 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_9) | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_14) | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_15));
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__Pyx_GOTREF(__pyx_t_6);
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__Pyx_XDECREF(__pyx_r); __Pyx_INCREF(Py_False); __pyx_r = Py_False; __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __Pyx_DECREF(__pyx_t_17); __pyx_t_17 = 0; goto __pyx_L0;
1086:
1087: '''
1088: # Compare ships
1089: if len(self.ships) != len(other.ships):
1090: print("Ships lists are different lengths!")
1091: return False
1092: for i, (ship_a, ship_b) in enumerate(zip(self.ships, other.ships)):
1093: if ship_a != ship_b:
1094: print(f"Ships don't match at index {i}: {ship_a} vs {ship_b}")
1095: return False
1096: '''
1097: # Trivial properties like timesteps are not compared, assuming they don't affect game state equality
+1098: return True
__Pyx_XDECREF(__pyx_r); __Pyx_INCREF(Py_True); __pyx_r = Py_True; goto __pyx_L0;
1099:
1100: '''
1101: class Target:
1102: __slots__ = ('asteroid', 'feasible', 'shooting_angle_error_deg', 'aiming_timesteps_required', 'interception_time_s', 'intercept_x', 'intercept_y', 'asteroid_dist_during_interception', 'imminent_collision_time_s', 'asteroid_will_get_hit_by_my_mine', 'asteroid_will_get_hit_by_their_mine')
1103:
1104: def __init__(self, asteroid: Asteroid, feasible: bool = False, shooting_angle_error_deg: float = 0.0, aiming_timesteps_required: int = 0, interception_time_s: float = 0.0, intercept_x: float = 0.0, intercept_y: float = 0.0, asteroid_dist_during_interception: float = 0.0, imminent_collision_time_s: float = 0.0, asteroid_will_get_hit_by_my_mine: bool = False, asteroid_will_get_hit_by_their_mine: bool = False) -> None:
1105: self.asteroid = asteroid
1106: self.feasible = feasible
1107: self.shooting_angle_error_deg = shooting_angle_error_deg
1108: self.aiming_timesteps_required = aiming_timesteps_required
1109: self.interception_time_s = interception_time_s
1110: self.intercept_x = intercept_x
1111: self.intercept_y = intercept_y
1112: self.asteroid_dist_during_interception = asteroid_dist_during_interception
1113: self.imminent_collision_time_s = imminent_collision_time_s
1114: self.asteroid_will_get_hit_by_my_mine = asteroid_will_get_hit_by_my_mine
1115: self.asteroid_will_get_hit_by_their_mine = asteroid_will_get_hit_by_their_mine
1116:
1117: def __str__(self) -> str:
1118: return f'Target(asteroid={self.asteroid}, feasible={self.feasible}, shooting_angle_error_deg={self.shooting_angle_error_deg}, aiming_timesteps_required={self.aiming_timesteps_required}, interception_time_s={self.interception_time_s}, intercept_x={self.intercept_x}, intercept_y={self.intercept_y}, asteroid_dist_during_interception={self.asteroid_dist_during_interception}, imminent_collision_time_s={self.imminent_collision_time_s}, asteroid_will_get_hit_by_my_mine={self.asteroid_will_get_hit_by_my_mine}, asteroid_will_get_hit_by_their_mine={self.asteroid_will_get_hit_by_their_mine})'
1119:
1120: def __repr__(self) -> str:
1121: return self.__str__()
1122:
1123: def copy(self) -> 'Target':
1124: return Target(
1125: asteroid=self.asteroid.copy(),
1126: feasible=self.feasible,
1127: shooting_angle_error_deg=self.shooting_angle_error_deg,
1128: aiming_timesteps_required=self.aiming_timesteps_required,
1129: interception_time_s=self.interception_time_s,
1130: intercept_x=self.intercept_x,
1131: intercept_y=self.intercept_y,
1132: asteroid_dist_during_interception=self.asteroid_dist_during_interception,
1133: imminent_collision_time_s=self.imminent_collision_time_s,
1134: asteroid_will_get_hit_by_my_mine=self.asteroid_will_get_hit_by_my_mine,
1135: asteroid_will_get_hit_by_their_mine=self.asteroid_will_get_hit_by_their_mine
1136: )
1137: '''
1138:
+1139: cdef class Target:
struct __pyx_obj_14neo_controller_Target {
PyObject_HEAD
struct __pyx_obj_14neo_controller_Asteroid *asteroid;
int feasible;
double shooting_angle_error_deg;
int aiming_timesteps_required;
double interception_time_s;
double intercept_x;
double intercept_y;
double asteroid_dist_during_interception;
double imminent_collision_time_s;
int asteroid_will_get_hit_by_my_mine;
int asteroid_will_get_hit_by_their_mine;
};
+1140: cdef public Asteroid asteroid
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1426:
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1429:
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1449: '''Calculate the Euclidean distance between two points in 2D space.'''
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1453:
1454:
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1492: # Coefficients for the atan approximation
1493:
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/* … */
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__pyx_t_1 = (__pyx_v_y == 0.0);
if (__pyx_t_1) {
/* … */
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1498: else:
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/* … */
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/* … */
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1503: else:
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1505:
1506: # Determine the input for the approximation based on |y| and |x|
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__pyx_t_4 = fabs(__pyx_v_x);
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/* … */
goto __pyx_L7;
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PyErr_SetString(PyExc_ZeroDivisionError, "float division");
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1517:
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if (__pyx_v_swap) {
/* … */
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__pyx_L9:;
1524:
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/* … */
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__pyx_t_1 = (__pyx_v_y >= 0.0);
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/* … */
goto __pyx_L11;
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1529: else:
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__pyx_L11:;
1531:
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1533:
1534:
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1536: # Coefficients for the atan approximation
1537:
1538: # Handle edge cases for 0 inputs
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1542: else:
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/* … */
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1547: else:
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__Pyx_XDECREF(__pyx_r);
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1549:
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if (__pyx_t_1) {
/* … */
goto __pyx_L7;
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1561:
1562: # Adjust the result based on the original input quadrant
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1568:
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goto __pyx_L11;
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1575:
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1577:
1578:
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1580: '''a and b are direction vectors. This checks whether the absolute heading difference between them are within a threshold angle.'''
1581: # This function would work the same way as if we took the ship's heading, and found the absolute wrapped difference between that and the direction vector of the asteroid, and then compared against the threshold
1582: # But this method is faster as it avoids the atan2 calculation, and instead does a sin and cos and does the threshold comparison with the cos value of the angle, instead of the angle itself
1583: # The old method is shown below for reference:
1584: # theta = degrees(atan2(b_vec_y, b_vec_x))
1585: # threshold_angle = acos(cos_threshold)
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1747: # print(f"Potentially bombing other ship. Giving reward of 10 asts!")
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1776:
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1779: # imminent_asteroid_relative_heading.automf(names=['F', 'FL', 'L', 'BL', 'B', 'BR', 'R', 'FR'])
1780: # largest_gap_relative_heading.automf(names=['F', 'FL', 'L', 'BL', 'B', 'BR', 'R', 'FR'])
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1783:
1784: # Define manual membership functions with 90 degrees width, dominant in 45 degrees
1785: # Forward (F) - Bimodal covering 0 to 45 and 315 to 360
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1840:
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1842:
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1847: # ship_accel_turn_rate.view()
1848: # Cruise Speed
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1852: # ship_cruise_speed.view()
1853: # Cruise Turn Rate
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1857: # ship_cruise_turn_rate.view()
1858: # Cruise Time Steps
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1862: # ship_cruise_timesteps.view()
1863:
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1866:
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+1907: maneuver_fis = setup_heuristic_maneuver_fis()
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1908: # print(f"imminent_asteroid_speed: {imminent_asteroid_speed}, imminent_asteroid_relative_heading: {imminent_asteroid_relative_heading}, largest_gap_relative_heading: {largest_gap_relative_heading}, nearby_asteroid_average_speed: {nearby_asteroid_average_speed}, nearby_asteroid_count: {nearby_asteroid_count}")
+1909: maneuver_fis.input['imminent_asteroid_speed'] = imminent_asteroid_speed
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+1910: maneuver_fis.input['imminent_asteroid_relative_heading'] = imminent_asteroid_relative_heading
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+1911: maneuver_fis.input['largest_gap_relative_heading'] = largest_gap_relative_heading
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+1912: maneuver_fis.input['nearby_asteroid_average_speed'] = nearby_asteroid_average_speed
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+1913: maneuver_fis.input['nearby_asteroid_count'] = nearby_asteroid_count
__pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_maneuver_fis, __pyx_mstate_global->__pyx_n_u_input); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1913, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); if (unlikely((PyObject_SetItem(__pyx_t_1, __pyx_mstate_global->__pyx_n_u_nearby_asteroid_count, __pyx_v_nearby_asteroid_count) < 0))) __PYX_ERR(0, 1913, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
+1914: maneuver_fis.compute()
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1915:
+1916: acceleration_turn_rate = cast(float, maneuver_fis.output['ship_accel_turn_rate'])
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+1917: cruise_speed = cast(float, maneuver_fis.output['ship_cruise_speed'])
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+1918: cruise_turn_rate = cast(float, maneuver_fis.output['ship_cruise_turn_rate'])
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+1919: cruise_timesteps = cast(float, maneuver_fis.output['ship_cruise_timesteps'])
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+1920: thrust_direction = cast(float, maneuver_fis.output['ship_thrust_direction'])
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1921: # debug_print(f"FIS Acceleration Turn Rate: {acceleration_turn_rate}, Cruise Speed: {cruise_speed}, Cruise Turn Rate: {cruise_turn_rate}, Cruise Timesteps: {cruise_timesteps}, Thrust Direction: {thrust_direction}")
+1922: return acceleration_turn_rate, cruise_speed, cruise_turn_rate, cruise_timesteps, thrust_direction
__Pyx_XDECREF(__pyx_r); __pyx_t_1 = PyTuple_New(5); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1922, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_INCREF(__pyx_v_acceleration_turn_rate); __Pyx_GIVEREF(__pyx_v_acceleration_turn_rate); if (__Pyx_PyTuple_SET_ITEM(__pyx_t_1, 0, __pyx_v_acceleration_turn_rate) != (0)) __PYX_ERR(0, 1922, __pyx_L1_error); __Pyx_INCREF(__pyx_v_cruise_speed); __Pyx_GIVEREF(__pyx_v_cruise_speed); if (__Pyx_PyTuple_SET_ITEM(__pyx_t_1, 1, __pyx_v_cruise_speed) != (0)) __PYX_ERR(0, 1922, __pyx_L1_error); __Pyx_INCREF(__pyx_v_cruise_turn_rate); __Pyx_GIVEREF(__pyx_v_cruise_turn_rate); if (__Pyx_PyTuple_SET_ITEM(__pyx_t_1, 2, __pyx_v_cruise_turn_rate) != (0)) __PYX_ERR(0, 1922, __pyx_L1_error); __Pyx_INCREF(__pyx_v_cruise_timesteps); __Pyx_GIVEREF(__pyx_v_cruise_timesteps); if (__Pyx_PyTuple_SET_ITEM(__pyx_t_1, 3, __pyx_v_cruise_timesteps) != (0)) __PYX_ERR(0, 1922, __pyx_L1_error); __Pyx_INCREF(__pyx_v_thrust_direction); __Pyx_GIVEREF(__pyx_v_thrust_direction); if (__Pyx_PyTuple_SET_ITEM(__pyx_t_1, 4, __pyx_v_thrust_direction) != (0)) __PYX_ERR(0, 1922, __pyx_L1_error); __pyx_r = __pyx_t_1; __pyx_t_1 = 0; goto __pyx_L0;
1923:
1924:
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1926: """
1927: Compute the logistic sigmoid function with scaling and shift.
1928:
1929: Parameters:
1930: - x: The input value or array of values.
1931: - k: The scaling factor for steepness. Higher values make the curve steeper. Positive k makes an increasing function, while negative k make a decreasing function.
1932: - x0: The shift factor. Positive values shift the curve to the right, negative to the left.
1933:
1934: Returns:
1935: - The logistic sigmoid function value(s) for the given input.
1936: """
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1938:
1939:
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1941: """
1942: Interpolate a linear function between two points. If the input is outside the range, then the output is clamped to the nearest extreme output.
1943: """
+1944: x1, y1 = point1
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__pyx_t_4 = (__pyx_v_x1 < __pyx_v_x2);
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1951: else:
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1953:
1954:
+1955: def weighted_average(numbers: Sequence[float | int], weights: Optional[Sequence[float | int]] = None) -> float:
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1956: """
1957: Calculate the weighted average of a list of numbers.
1958: If no weights are provided, the regular average is calculated.
1959: Raises ValueError if weights are provided but do not match the length of numbers.
1960:
1961: Parameters:
1962: - numbers: list of numbers.
1963: - weights: Corresponding weights for each number.
1964:
1965: Returns:
1966: - The weighted (or regular) average of the numbers.
1967:
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1969: - ValueError: If weights are provided but their length doesn't match the numbers list.
1970: """
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1984: """
1985: Calculate the weighted harmonic mean of a list of numbers.
1986: If no weights are provided, the regular harmonic mean is calculated.
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1988:
1989: Parameters:
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1991: - weights: Corresponding weights for each number.
1992:
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1995:
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2106:
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2111: # print(f"Average asteroid density: {average_density}, average vel: {average_vel}, average speed: {avg_speed}")
2112:
2113:
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2273: # This is a silly code duplication to get a super optimized class for getting the ship's move sequence. Using the entire Simulation class is overkill and too much.
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2317: nonlocal move_sequence
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2348:
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2508: # Given two circles moving at constant velocities, will they collide, and when? This can be solved in constant time with a calculation
2509: # https://stackoverflow.com/questions/11369616/circle-circle-collision-prediction/
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2514: # If both objects are stationary, then we only have to check the collision right now and not do any fancy math
2515: # This should speed up scenarios where most asteroids are stationary
2516: #if check_collision(Oax, Oay, ra, Obx, Oby, rb):
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2521: else:
2522: # Compared to the stack overflow, the following has been factored to reduce intermediate computations and save some clock cycles
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2529:
2530:
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2532: # print("ship_pos_x, ship_pos_y, ship_vel_x, ship_vel_y, ship_r, ast_pos_x, ast_pos_y, ast_vel_x, ast_vel_y, ast_radius")
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+2535: assert check_coordinate_bounds(game_state, ship_pos_x, ship_pos_y) # REMOVE_FOR_COMPETITION
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double __pyx_v_x_crossing_interval;
double __pyx_v_time_to_first_x_crossing;
double __pyx_v_abs_vy;
double __pyx_v_y_crossing_interval;
double __pyx_v_time_to_first_y_crossing;
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2622: # Initialize lists to hold crossing times
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2627:
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if (__pyx_t_3) {
/* … */
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2631: # Calculate time to first x-boundary crossing based on direction of vx
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PyErr_SetString(PyExc_ZeroDivisionError, "float division");
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2633: # print(f"x_crossing_interval: {x_crossing_interval}")
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+2635: x_crossings_times.append(time_to_first_x_crossing)
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2637: # Add additional crossings until time c is reached
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2641: # print(f"x crossing times: {x_crossings_times}")
2642: # Calculate crossing times for y (if vy is not zero)
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/* … */
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2645: # Calculate time to first y-boundary crossing based on direction of vy
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2647: # print(f"y_crossing_interval: {y_crossing_interval}")
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PyErr_SetString(PyExc_ZeroDivisionError, "float division");
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PyErr_SetString(PyExc_ZeroDivisionError, "float division");
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2651: # Add additional crossings until time c is reached
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+2653: y_crossings_times.append(next_time)
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2655: # print(f"y crossing times: {y_crossings_times}")
2656: # Merge the two lists while tracking the origin of each time
2657: #merged_times = []
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2704: #start_time = time.perf_counter()
2705: #global unwrap_total_time
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2707: #use_cache = UNWRAP_ASTEROID_TARGET_SELECTION_TIME_HORIZON == time_horizon_s
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2713: #print("CACHE HIT")
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2715: #unwrap_cache_hits += 1
2716: #unwrap_total_time += time.perf_counter() - start_time
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2718: #print("CACHE MISS")
2719: #global unwrap_cache_misses
2720: #unwrap_cache_misses += 1
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2723: # An asteroid that is stationary will never move across borders
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2726: #unwrap_total_time += time.perf_counter() - start_time
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2728:
2729: # The idea is to track which universes the asteroid visits from t=t_0 until t=t_0 + time_horizon_s.
2730: # The current universe is (0, 0) and if the asteroid wraps to the right, it visits (1, 0). If it wraps down, it visits (0, -1). If it wraps right and then down, it starts in (0, 0), visits (1, 0), and finally (1, -1).
2731: #border_crossings = calculate_border_crossings(asteroid.position[0], asteroid.position[1], asteroid.velocity[0], asteroid.velocity[1], max_x, max_y, time_horizon_s)
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2736: #unwrapped_asteroid: Asteroid = asteroid.copy()
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/* … */
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2753:
2754:
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2761:
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2807:
2808:
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2861: # feasible, shot_heading_error_rad, shot_heading_tolerance_rad, interception_time_s + 0*future_shooting_timesteps*delta_time, intercept_x, intercept_y, asteroid_dist, asteroid_dist_during_interception
2862:
2863:
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2865: # assert a.size != 1 # Asteroids of size 1 don't split # REMOVE_FOR_COMPETITION
2866: # Look at asteroid.py in the Kessler game's code
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2874:
2875:
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2908:
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2910: # assert asteroid.size != 1 # Asteroids of size 1 don't split # REMOVE_FOR_COMPETITION
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3008: else:
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3011:
3012:
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3097:
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3105:
3106:
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3184:
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struct __pyx_obj_14neo_controller___pyx_scope_struct_10_solve_interception *__pyx_outer_scope;
double __pyx_v_theta_old;
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double __pyx_v_theta_new;
double __pyx_v_func_value;
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PyObject *__pyx_v_second_derivative_value = NULL;
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__pyx_t_7 = fabs(__pyx_v_func_value);
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if (__pyx_t_8) {
/* … */
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+3247: return theta_old
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+3248: if not initial_func_value:
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+3249: initial_func_value = func_value
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+3250: derivative_value = root_function_derivative(theta_old)
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__pyx_t_1 = __pyx_pf_14neo_controller_18solve_interception_10root_function_derivative(__pyx_cur_scope->__pyx_v_root_function_derivative, __pyx_v_theta_old); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 3250, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_1);
__Pyx_XDECREF_SET(__pyx_v_derivative_value, __pyx_t_1);
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+3251: second_derivative_value = root_function_second_derivative(theta_old)
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__pyx_t_9 = (__Pyx_PyFloat_BoolEqObjC(__pyx_v_denominator, __pyx_mstate_global->__pyx_float_0_0, 0.0, 0, 0)); if (unlikely((__pyx_t_9 < 0))) __PYX_ERR(0, 3255, __pyx_L1_error) if (__pyx_t_9) { /* … */ }
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+3257: theta_new = theta_old - (2.0*func_value*derivative_value)/denominator
__pyx_t_1 = PyFloat_FromDouble(__pyx_v_theta_old); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 3257, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_t_10 = PyFloat_FromDouble((2.0 * __pyx_v_func_value)); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3257, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_2 = PyNumber_Multiply(__pyx_t_10, __pyx_v_derivative_value); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 3257, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __pyx_t_10 = __Pyx_PyNumber_Divide(__pyx_t_2, __pyx_v_denominator); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3257, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __pyx_t_2 = PyNumber_Subtract(__pyx_t_1, __pyx_t_10); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 3257, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __pyx_t_7 = __Pyx_PyFloat_AsDouble(__pyx_t_2); if (unlikely((__pyx_t_7 == (double)-1) && PyErr_Occurred())) __PYX_ERR(0, 3257, __pyx_L1_error) __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; __pyx_v_theta_new = __pyx_t_7;
3258: # The value has jumped past the periodic boundary. Clamp it to right past the boundary just so things don't get too crazy.
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__pyx_t_9 = (__pyx_v_theta_new < (-M_PI));
if (__pyx_t_9) {
/* … */
goto __pyx_L8;
}
+3260: theta_new = pi - GRAIN
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__pyx_t_9 = (M_PI < __pyx_v_theta_new);
if (__pyx_t_9) {
/* … */
goto __pyx_L8;
}
+3262: theta_new = -pi + GRAIN
__pyx_v_theta_new = ((-M_PI) + __pyx_v_14neo_controller_GRAIN);
+3263: elif -pi <= theta_old <= 0.0 <= theta_new <= pi:
__pyx_t_9 = ((-M_PI) <= __pyx_v_theta_old);
if (__pyx_t_9) {
__pyx_t_9 = (__pyx_v_theta_old <= 0.0);
if (__pyx_t_9) {
__pyx_t_9 = (0.0 <= __pyx_v_theta_new);
if (__pyx_t_9) {
__pyx_t_9 = (__pyx_v_theta_new <= M_PI);
}
}
}
if (__pyx_t_9) {
/* … */
goto __pyx_L8;
}
3264: # The value jumped past the kink in the middle of the graph. set it to right past the kink so the value doesn't jump around like crazy
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__pyx_t_9 = (__pyx_v_theta_new <= 0.0);
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/* … */
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__pyx_t_9 = __pyx_t_8;
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/* … */
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3276:
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3324:
3325: # Calculate function values
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+3333: plt.figure(figsize=(12, 6))
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3334:
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3370:
3371: # plot_function()
3372: #valid_solutions = []
3373: # print_debug = False
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3380: # debug_print('Naive solution works!', naive_solution)
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3384: else:
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3387: # debug_print("The asteroid is pretty much stationary. Naive solution works fine.")
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3400: # delta_theta_solution = (delta_theta_solution + pi)%TAU - pi
3401: # Check validity of solution to make sure time is positive and stuff
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+3405: t_bullet = bullet_travel_time(delta_theta_solution, t_rot)
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3406: # debug_print(f't_bullet: {t_bullet}')
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3409: # t_total = t_rot + t_bullet
3410:
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3414: # debug_print(f"Intercept_x ({intercept_x}) = origin_x ({origin_x}) + vb*cos({absolute_theta_solution})*(t_bullet ({t_bullet}) + t_0 ({t_0}))")
3415: # debug_print(f"Intercept_y ({intercept_y}) = origin_y ({origin_y}) + vb*sin({absolute_theta_solution})*(t_bullet ({t_bullet}) + t_0 ({t_0}))")
3416:
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3419: # Since half timesteps don't exist, we need to discretize this solution by rounding up the amount of timesteps, and now we can use the naive method to confirm and get the exact angle
3420: # We max this with ts until can fire, because that's the floor and we can't go below it
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+3422: print(t_rot_ts)
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3438:
3439:
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3467: #asteroid_tracking_total_time += time.perf_counter() - start_time
3468:
3469:
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3471: # global asteroid_new_track_total_time
3472: #start_time = time.perf_counter()
3473: # This assumes all asteroids are wrapped/within the game bounds!
3474: # print(f"Checking pending shots for timestep {current_timestep}")
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__Pyx_INCREF(__pyx_builtin_print);
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3498: #asteroid_new_track_total_time += time.perf_counter() - start_time
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3500: else:
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3502: # print(asteroids_pending_death) # REMOVE_FOR_COMPETITION
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3504: #asteroid_new_track_total_time += time.perf_counter() - start_time
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3506:
3507:
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3509: '''Project an asteroid into the future or past. This automatically wraps the asteroid's position'''
3510: # The ts=0 shortcut isn't good because it doesn't wrap the asteroid!
3511: #if timesteps == 0:
3512: #print("WARNING: Time travelling asteroid by 0 timesteps! If this is rare, it's no cause for concern")
3513: #return asteroid.copy()
+3514: return Asteroid(
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3521: )
3522:
3523:
+3524: def time_travel_asteroid_s(asteroid: Asteroid, time: float, game_state: GameState) -> Asteroid:
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3525: '''Project an asteroid into the future or past. This automatically wraps the asteroid's position'''
3526: # The ts=0 shortcut isn't good because it doesn't wrap the asteroid!
3527: #if timesteps == 0:
3528: #print("WARNING: Time travelling asteroid by 0 timesteps! If this is rare, it's no cause for concern")
3529: #return asteroid.copy()
+3530: return Asteroid(
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3537: )
3538:
3539:
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3542: # Has built-in controllers to do stationary targeting, maneuvers, and respawn maneuvers
3543: # Has fitness function to evaluate the set of moves, along with the end state
3544: # Can then extract the maneuver along with the future state, to execute the maneuver, and begin planning based on the future state before we actually get there
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+3572: self.halt_shooting: bool = halt_shooting # This probably means we're doing a respawn maneuver
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3577: #if self.sim_id in [15869, 73186]:
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3592: # This is to facilitate my two-pass respawn maneuvers. The first pass doesn't shoot, and records when we will no longer hit asteroids. The second pass will begin targeting after the ship is clear from asteroids, since after shooting the respawn invincibility will be gone
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3594: # 0 - Not a respawn maneuver, 1 - First pass of respawn maneuver, 2 - Second pass of respawn maneuver
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3598: #print(f"Simulating first pass of respawn maneuver! Halt shooting status is {self.halt_shooting}, {fire_first_timestep=}") # REMOVE_FOR_COMPETITION
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+3600: assert not self.fire_first_timestep # REMOVE_FOR_COMPETITION
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3602: #print(f"Simulating second pass of respawn maneuver! Halt shooting status is {self.halt_shooting}, {fire_first_timestep=}") # REMOVE_FOR_COMPETITION
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+3604: assert not self.fire_first_timestep # REMOVE_FOR_COMPETITION
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3605: # Define the random walks for shooting while maneuvering
3606: # If we just do a random walk (bias = 0.5), we get a normal distribution. If we do a uniformly distributed bias, then the final random walk will also be uniformly distributed!
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+3608: self.random_walk_schedule: list[bool] = [random.random() < bias for _ in range(RANDOM_WALK_SCHEDULE_LENGTH)] # True means left, False means right. For shot number n, self.random_walk_schedule[n] tells us which direction we need to do the turning to make the shot in.
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3687: # debug_print(f"Inside get fitness, we shot {self.asteroids_shot} asteroids. getting extrapolated collision time. The ship's velocity is: ({self.ship_state.velocity[0]}, {self.ship_state.velocity[1]})")
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3690: # print('Extrapolating stuff at rest in end')
3691: # The asteroids from the game state could have been from the future since we waited out the mines, but the forecasted splits are from present time, so we need to treat them differently and only back-extrapolate the existing asteroids and not the forecasted ones
3692: # print(f"Forecasted splits: {self.forecasted_asteroid_splits}")
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3695: # print(f"Ast is born: {asteroid_is_born}")
3696: # print(f"Checking collision with asteroid: {ast_to_string(asteroid)} on timestep {self.initial_timestep + self.future_timesteps}")
3697: # debug_print(f"Future timesteps: {self.future_timesteps}, timesteps to not check collision for: {self.timesteps_to_not_check_collision_for}")
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3709: # The predicted collision time is finite and after the end of the sim
3710: # TODO: Verify there isn't an off by one error
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3712: # The asteroid either exists, or will come into existence before our collision time
3713: # Check the canonical asteroid, and not the unwrapped one!
3714: # print(f"{additional_timesteps_to_blow_up_mines=}")
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3720: # We're already shooting the asteroid. Check whether the imminent collision time is before or after the asteroid is eliminated
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3727: # print(f"Getting extrapolated next coll time for unwrapped asteroid {ast_to_string(a)}. Initial TS: {self.initial_timestep}, future TS: {self.future_timesteps}, additional timesteps to blow up mines: {additional_timesteps_to_blow_up_mines}, predicted collision additional ts: {predicted_collision_ts}")
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3764: #if self.sim_id in [15869, 73186]:
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3771: # This will return a scalar number representing how good of an action/state sequence we just went through
3772: # If these moves will keep us alive for a long time and shoot many asteroids along the way, then the fitness is good
3773: # If these moves result in us getting into a dangerous spot, or if we don't shoot many asteroids at all, then the fitness will be bad
3774: # The HIGHER the fitness score, the BETTER!
3775: # This fitness function is unified to consider all three types of moves. Stationary targeting, maneuvers, and respawn maneuvers.
3776:
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3957: #print(f"{self.sim_id=} {separation_dists=} {mean_separation_dist=}")
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3965:
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3967: # print(f"{self.ship_state.position=}, {self.ship_state.velocity=}, {self.ship_state.speed=} maneuver length: {move_sequence_length_s}")
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3969:
+3970: mine_safe_time_fitness, next_extrapolated_mine_collision_time = get_mine_safety_fitness(next_extrapolated_mine_collision_times)
if (!(likely(PyList_CheckExact(__pyx_v_next_extrapolated_mine_collision_times))||((__pyx_v_next_extrapolated_mine_collision_times) == Py_None) || __Pyx_RaiseUnexpectedTypeError("list", __pyx_v_next_extrapolated_mine_collision_times))) __PYX_ERR(0, 3970, __pyx_L1_error) __pyx_t_6 = __pyx_pf_14neo_controller_6Matrix_11get_fitness_4get_mine_safety_fitness(__pyx_v_get_mine_safety_fitness, ((PyObject*)__pyx_v_next_extrapolated_mine_collision_times)); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3970, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); if ((likely(PyTuple_CheckExact(__pyx_t_6))) || (PyList_CheckExact(__pyx_t_6))) { PyObject* sequence = __pyx_t_6; Py_ssize_t size = __Pyx_PySequence_SIZE(sequence); if (unlikely(size != 2)) { if (size > 2) __Pyx_RaiseTooManyValuesError(2); else if (size >= 0) __Pyx_RaiseNeedMoreValuesError(size); __PYX_ERR(0, 3970, __pyx_L1_error) } #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS if (likely(PyTuple_CheckExact(sequence))) { __pyx_t_10 = PyTuple_GET_ITEM(sequence, 0); __Pyx_INCREF(__pyx_t_10); __pyx_t_9 = PyTuple_GET_ITEM(sequence, 1); __Pyx_INCREF(__pyx_t_9); } else { __pyx_t_10 = __Pyx_PyList_GetItemRef(sequence, 0); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3970, __pyx_L1_error) __Pyx_XGOTREF(__pyx_t_10); __pyx_t_9 = __Pyx_PyList_GetItemRef(sequence, 1); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3970, __pyx_L1_error) __Pyx_XGOTREF(__pyx_t_9); } #else __pyx_t_10 = __Pyx_PySequence_ITEM(sequence, 0); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3970, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_9 = __Pyx_PySequence_ITEM(sequence, 1); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3970, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); #endif __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; } else { Py_ssize_t index = -1; __pyx_t_4 = PyObject_GetIter(__pyx_t_6); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 3970, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; __pyx_t_12 = (CYTHON_COMPILING_IN_LIMITED_API) ? PyIter_Next : __Pyx_PyObject_GetIterNextFunc(__pyx_t_4); index = 0; __pyx_t_10 = __pyx_t_12(__pyx_t_4); if (unlikely(!__pyx_t_10)) goto __pyx_L4_unpacking_failed; __Pyx_GOTREF(__pyx_t_10); index = 1; __pyx_t_9 = __pyx_t_12(__pyx_t_4); if (unlikely(!__pyx_t_9)) goto __pyx_L4_unpacking_failed; __Pyx_GOTREF(__pyx_t_9); if (__Pyx_IternextUnpackEndCheck(__pyx_t_12(__pyx_t_4), 2) < 0) __PYX_ERR(0, 3970, __pyx_L1_error) __pyx_t_12 = NULL; __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; goto __pyx_L5_unpacking_done; __pyx_L4_unpacking_failed:; __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; __pyx_t_12 = NULL; if (__Pyx_IterFinish() == 0) __Pyx_RaiseNeedMoreValuesError(index); __PYX_ERR(0, 3970, __pyx_L1_error) __pyx_L5_unpacking_done:; } __pyx_v_mine_safe_time_fitness = __pyx_t_10; __pyx_t_10 = 0; __pyx_v_next_extrapolated_mine_collision_time = __pyx_t_9; __pyx_t_9 = 0;
+3971: asteroids_fitness = get_asteroid_shot_frequency_fitness(self.asteroids_shot, move_sequence_length_s)
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+3972: asteroid_aiming_cone_fitness = get_asteroid_aiming_cone_fitness()
__pyx_t_9 = __pyx_pf_14neo_controller_6Matrix_11get_fitness_6get_asteroid_aiming_cone_fitness(__pyx_v_get_asteroid_aiming_cone_fitness); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3972, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_v_asteroid_aiming_cone_fitness = __pyx_t_9; __pyx_t_9 = 0;
3973:
3974: # If mines still have yet to blow up, what we're gonna do is simulate the game until the mines blow up and we know how the mines will blast the asteroids
3975: # That way, we can accurately tell what the next extrapolated asteroid collision time is
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__pyx_v_additional_timesteps_to_blow_up_mines = __pyx_mstate_global->__pyx_int_0;
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3989: # debug_print(f"In get fitness, waited an additional {additional_timesteps_to_blow_up_mines} timesteps to blow up mines!")
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3991: # No mines exist, and it's a straightforward prediction for asteroid collisions
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3994: else:
3995: # Because mines existed and blew up which changed the trajectory of asteroids, we need to do a prediction before and after the mine blew up, and predict both paths
3996: # This doesn't properly account for multiple mines! But that's alright, I don't want to make this too complicated and have to do an asteroids prediction after every mine blows up and split the timeline into intervals where asteroids change trajectories, although that is possible to implement
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4001: # This assertion is false because it doesn't take into account the existence of other mines. If there was a mine about to blow up, and another fresh mine, then the first mine can blow me up before an asteroid or the fresh mine hits me
4002: #assert is_close(safe_time_after_maneuver_s, next_extrapolated_asteroid_collision_time), f"{safe_time_after_maneuver_s=} != {next_extrapolated_asteroid_collision_time=}, and {next_extrapolated_asteroid_collision_time_after_mines=}, {next_extrapolated_mine_collision_time=}, {additional_timesteps_to_blow_up_mines*DELTA_TIME=}"
4003: else:
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4007: #states = self.get_state_sequence()
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4009:
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4012:
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+4017: asteroid_safe_time_fitness = get_asteroid_safe_time_fitness(next_extrapolated_asteroid_collision_time, displacement, move_sequence_length_s)
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4019: # Stationary targeting or respawn maneuver
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4021: else:
4022: # Regular maneuver
4023: #self_ship_positions = [states[len(states)//2]['ship_state'].position, states[len(states)*3//4]['ship_state'].position, ship_end_position]
+4024: self_ship_positions = [s.ship_state.position for s in states]
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__pyx_L35:;
4025: # This assertion won't hold when the ship takes a long time to rotate at the start
4026: # assert not (isclose(ship_start_position[0], self_ship_positions[0][0]) and isclose(ship_start_position[1], self_ship_positions[0][1])), f"Ship states: {[s['ship_state'] for s in states]}"
4027:
+4028: other_ship_proximity_fitness = get_other_ship_proximity_fitness(self_ship_positions)
__pyx_t_10 = __pyx_pf_14neo_controller_6Matrix_11get_fitness_12get_other_ship_proximity_fitness(__pyx_v_get_other_ship_proximity_fitness, __pyx_v_self_ship_positions); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4028, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_v_other_ship_proximity_fitness = __pyx_t_10; __pyx_t_10 = 0;
+4029: sequence_length_fitness = get_sequence_length_fitness(move_sequence_length_s, displacement)
__pyx_t_19 = __Pyx_PyFloat_AsDouble(__pyx_v_move_sequence_length_s); if (unlikely((__pyx_t_19 == (double)-1) && PyErr_Occurred())) __PYX_ERR(0, 4029, __pyx_L1_error) __pyx_t_18 = __Pyx_PyFloat_AsDouble(__pyx_v_displacement); if (unlikely((__pyx_t_18 == (double)-1) && PyErr_Occurred())) __PYX_ERR(0, 4029, __pyx_L1_error) __pyx_t_10 = __pyx_pf_14neo_controller_6Matrix_11get_fitness_10get_sequence_length_fitness(__pyx_v_get_sequence_length_fitness, __pyx_t_19, __pyx_t_18); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4029, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_v_sequence_length_fitness = __pyx_t_10; __pyx_t_10 = 0;
4030:
+4031: crash_fitness = get_crash_fitness()
__pyx_t_10 = __pyx_pf_14neo_controller_6Matrix_11get_fitness_8get_crash_fitness(__pyx_v_get_crash_fitness); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4031, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_v_crash_fitness = __pyx_t_10; __pyx_t_10 = 0;
4032:
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__pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_sim_placed_a_mine); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4033, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_10); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 4033, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L45; }
4034: #if mine_safe_time_fitness > 0.8:
4035: # placed_mine_fitness = 1.0
4036: #else:
4037: # placed_mine_fitness = 0.5
+4038: if self.ship_state.lives_remaining >= 3:
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+4039: placed_mine_fitness = 1.0
__Pyx_INCREF(__pyx_mstate_global->__pyx_float_1_0);
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4040: else:
+4041: placed_mine_fitness = mine_safe_time_fitness
/*else*/ {
__Pyx_INCREF(__pyx_v_mine_safe_time_fitness);
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}
__pyx_L46:;
4042: else:
+4043: placed_mine_fitness = 0.0
/*else*/ {
__Pyx_INCREF(__pyx_mstate_global->__pyx_float_0_0);
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__pyx_L45:;
4044:
4045: # debug_print(f"Fitness: {asteroid_safe_time_fitness + mine_safe_time_fitness + asteroids_fitness + sequence_length_fitness + other_ship_proximity_fitness + crash_fitness}, Ast safe time score: {asteroid_safe_time_fitness} (safe time after maneuver is {safe_time_after_maneuver_s} s, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_fitness}, sequence length score: {sequence_length_fitness}, other ship prox score: {other_ship_proximity_fitness}")
4046: # self.explanation_messages.append(f"Fitness: {asteroid_safe_time_score + mine_safe_time_score + asteroids_score + sequence_length_score + displacement_score}, Ast safe time score: {asteroid_safe_time_score} (safe time after maneuver is {safe_time_after_maneuver_s} s, mine safe time score: {mine_safe_time_score}, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_score}, sequence length score: {sequence_length_score}, displacement score: {displacement_score}, other ship prox score: {other_ship_proximity_score}")
4047: # debug_print(f"Fitness: {asteroid_safe_time_fitness + mine_safe_time_fitness + asteroids_fitness + sequence_length_fitness + other_ship_proximity_fitness + crash_fitness}, Ast safe time score: {asteroid_safe_time_fitness} (safe time after maneuver is {safe_time_after_maneuver_s} s, mine safe time score: {mine_safe_time_fitness}, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_fitness}, sequence length score: {sequence_length_fitness}, other ship prox score: {other_ship_proximity_fitness}, crash_score: {crash_fitness}")
+4048: if asteroid_safe_time_fitness < 0.1:
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+4049: self.safety_messages.append(f"I'm dangerously close to being hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s). Trying my hardest to maneuver out of this situation.")
__pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4049, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_9 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_asteroid_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4049, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_m_dangerously_close_to_being_h; __pyx_t_20[1] = __pyx_t_9; __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s_Trying_my_hardest_to_maneuver; __pyx_t_6 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 86 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_9) + 56, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_9)); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 4049, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_10, __pyx_t_6); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 4049, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0;
+4050: elif asteroid_safe_time_fitness < 0.4:
__pyx_t_6 = PyObject_RichCompare(__pyx_v_asteroid_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_4, Py_LT); __Pyx_XGOTREF(__pyx_t_6); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 4050, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_6); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 4050, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L47; }
+4051: self.safety_messages.append(f"I'm close to being hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s).")
__pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 4051, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_10 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_asteroid_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4051, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_m_close_to_being_hit_by_astero; __pyx_t_20[1] = __pyx_t_10; __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s; __pyx_t_9 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 74 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_10) + 3, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_10)); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4051, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_6, __pyx_t_9); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 4051, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0;
+4052: elif asteroid_safe_time_fitness < 0.8:
__pyx_t_9 = PyObject_RichCompare(__pyx_v_asteroid_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_8, Py_LT); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4052, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 4052, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (__pyx_t_2) { /* … */ } __pyx_L47:;
+4053: self.safety_messages.append(f"I'll eventually get hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s). Keeping my eye out for a dodge maneuver.")
__pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4053, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_6 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_asteroid_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 4053, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_ll_eventually_get_hit_by_aster; __pyx_t_20[1] = __pyx_t_6; __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s_Keeping_my_eye_out_for_a_dodge; __pyx_t_10 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 75 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_6) + 44, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_6)); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4053, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_9, __pyx_t_10); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 4053, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0;
4054:
+4055: if mine_safe_time_fitness < 0.1:
__pyx_t_10 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_1, Py_LT); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4055, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_10); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 4055, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L48; }
+4056: self.safety_messages.append(f"I'm dangerously close to being kablooied by a mine (Imminent blast in {next_extrapolated_mine_collision_time:.1f}s). Trying my hardest to maneuver out of this situation.")
__pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4056, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_9 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_mine_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4056, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_m_dangerously_close_to_being_k; __pyx_t_20[1] = __pyx_t_9; __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s_Trying_my_hardest_to_maneuver; __pyx_t_6 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 70 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_9) + 56, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_9)); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 4056, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_10, __pyx_t_6); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 4056, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0;
+4057: elif mine_safe_time_fitness < 0.4:
__pyx_t_6 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_4, Py_LT); __Pyx_XGOTREF(__pyx_t_6); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 4057, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_6); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 4057, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L48; }
+4058: self.safety_messages.append(f"I'm close to being boomed by a mine (Imminent blast in {next_extrapolated_mine_collision_time:.1f}s).")
__pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 4058, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_10 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_mine_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4058, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_m_close_to_being_boomed_by_a_m; __pyx_t_20[1] = __pyx_t_10; __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s; __pyx_t_9 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 55 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_10) + 3, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_10)); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4058, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_6, __pyx_t_9); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 4058, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0;
+4059: elif mine_safe_time_fitness < 0.9:
__pyx_t_9 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_9, Py_LT); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4059, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 4059, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (__pyx_t_2) { /* … */ } __pyx_L48:;
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if (unlikely(__pyx_assertions_enabled())) {
__pyx_t_10 = PyObject_RichCompare(__pyx_mstate_global->__pyx_float_0_0, __pyx_v_asteroid_safe_time_fitness, Py_LE); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4069, __pyx_L1_error)
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+4070: assert 0.0 <= mine_safe_time_fitness <= 1.0 # REMOVE_FOR_COMPETITION
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if (unlikely(__pyx_assertions_enabled())) {
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__Pyx_DECREF(__pyx_t_10);
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+4071: assert -1.0 <= asteroids_fitness <= 1.0 # REMOVE_FOR_COMPETITION
#ifndef CYTHON_WITHOUT_ASSERTIONS
if (unlikely(__pyx_assertions_enabled())) {
__pyx_t_10 = PyObject_RichCompare(__pyx_mstate_global->__pyx_float_neg_1_0, __pyx_v_asteroids_fitness, Py_LE); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4071, __pyx_L1_error)
if (__Pyx_PyObject_IsTrue(__pyx_t_10)) {
__Pyx_DECREF(__pyx_t_10);
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__Pyx_Raise(__pyx_builtin_AssertionError, 0, 0, 0);
__PYX_ERR(0, 4071, __pyx_L1_error)
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+4072: assert 0.0 <= sequence_length_fitness <= 1.0 # REMOVE_FOR_COMPETITION
#ifndef CYTHON_WITHOUT_ASSERTIONS
if (unlikely(__pyx_assertions_enabled())) {
__pyx_t_10 = PyObject_RichCompare(__pyx_mstate_global->__pyx_float_0_0, __pyx_v_sequence_length_fitness, Py_LE); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4072, __pyx_L1_error)
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__Pyx_DECREF(__pyx_t_10);
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+4073: assert 0.0 <= other_ship_proximity_fitness <= 1.0 # REMOVE_FOR_COMPETITION
#ifndef CYTHON_WITHOUT_ASSERTIONS
if (unlikely(__pyx_assertions_enabled())) {
__pyx_t_10 = PyObject_RichCompare(__pyx_mstate_global->__pyx_float_0_0, __pyx_v_other_ship_proximity_fitness, Py_LE); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4073, __pyx_L1_error)
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+4074: assert 0.0 <= crash_fitness <= 1.0 # REMOVE_FOR_COMPETITION
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__pyx_t_10 = PyObject_RichCompare(__pyx_mstate_global->__pyx_float_0_0, __pyx_v_crash_fitness, Py_LE); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4074, __pyx_L1_error)
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__Pyx_DECREF(__pyx_t_10);
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+4075: assert 0.0 <= asteroid_aiming_cone_fitness <= 1.0 # REMOVE_FOR_COMPETITION
#ifndef CYTHON_WITHOUT_ASSERTIONS
if (unlikely(__pyx_assertions_enabled())) {
__pyx_t_10 = PyObject_RichCompare(__pyx_mstate_global->__pyx_float_0_0, __pyx_v_asteroid_aiming_cone_fitness, Py_LE); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4075, __pyx_L1_error)
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+4076: assert 0.0 <= placed_mine_fitness <= 1.0 # REMOVE_FOR_COMPETITION
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__Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_mstate_global->__pyx_n_u_fitness_function_weights); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4079, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_2 = (__pyx_t_10 != Py_None); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L51; }
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4081: else:
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__Pyx_GetModuleGlobalName(__pyx_t_10, __pyx_mstate_global->__pyx_n_u_DEFAULT_FITNESS_WEIGHTS); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4083, __pyx_L1_error)
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4084: # print(fitness_weights)
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4086: # print(fitness_breakdown, fitness_weights)
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4102:
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4134: # The job of this method is to calculate how to hit each asteroid, and then pick the best one to try to target
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4136: '''
4137: Uses the bullet sim to check whether we'll hit a target, and which target we end up hitting since we might hit an asteroid in front of our intended target
4138: target_asteroid_original: Our target asteroid
4139: target_asteroid_shooting_angle_error_deg: The amount in degrees the ship needs to turn to be able to shoot the target
4140: target_asteroid_interception_time_s: The time in seconds between firing and hitting the center of the target. The turning time is not included!
4141: target_asteroid_turning_timesteps: The number of timesteps we need to turn for before shooting. Well, we might require fewer timesteps than this, but this is the prescribed number of timesteps we must wait out until we shoot, to be able to hit our target.
4142: '''
4143:
4144: # Just because we're lined up for a shot doesn't mean our shot will hit, unfortunately.
4145: # Bullets and asteroids travel in discrete timesteps, and it's possible for the bullet to miss the asteroid hitbox between timesteps, where the interception would have occurred on an intermediate timestep.
4146: # This is unavoidable, and we just have to choose targets that don't do this.
4147: # If the asteroids are moving slow enough, this should be rare, but especially if small asteroids are moving very quickly, this issue is common.
4148: # A simulation will easily show whether this will happen or not
4149: # debug_print(f"The last timestep fired is {self.last_timestep_fired}")
+4150: aiming_move_sequence = self.get_rotate_heading_move_sequence(target_asteroid_shooting_angle_error_deg)
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4156: # debug_print(f'aiming move seq before append, and ts until can fire is {timesteps_until_can_fire}')
4157: # debug_print(aiming_move_sequence)
4158: #aiming_move_sequence.extend([cast(Action, {'thrust': 0.0, 'turn_rate': 0.0, 'fire': False})]*timesteps_until_can_fire)
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4160: # debug_print('aiming move seq after append')
4161: # debug_print(aiming_move_sequence)
+4162: asteroid_advance_timesteps = len(aiming_move_sequence)
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4163: # debug_print(f"Asteroid advanced timesteps: {asteroid_advance_timesteps}")
4164: # debug_print(f"Targetting turning timesteps: {target_asteroid_turning_timesteps}")
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4168: # We're given a budget of target_asteroid_turning_timesteps timesteps to turn, however we find that the turn actually required fewer timesteps than that. We still need to wait the full number, so we just pad with null actions to wait out the time. This case should be super rare.
4169: # debug_print(f"asteroid_advance_timesteps {asteroid_advance_timesteps} < target_asteroid_turning_timesteps {target_asteroid_turning_timesteps}")
4170: #aiming_move_sequence.extend([cast(Action, {'thrust': 0.0, 'turn_rate': 0.0, 'fire': False})]*(target_asteroid_turning_timesteps - asteroid_advance_timesteps))
+4171: aiming_move_sequence.extend([Action(thrust=0.0, turn_rate=0.0, fire=False) for _ in range(target_asteroid_turning_timesteps - asteroid_advance_timesteps)])
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4174: # debug_print(f"We're targetting asteroid {ast_to_string(target_asteroid)}")
4175: # debug_print(f"Entering the bullet target sim, we're on timestep {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)}")
4176: # debug_print(self.game_state.asteroids)
4177: #if not (abs(current_ship_state.velocity[0]) < GRAIN and abs(current_ship_state.velocity[1]) < GRAIN):
4178: # debug_print(f"Current ship velocity is {current_ship_state.velocity}")
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4183:
4184: # First, find the most imminent asteroid
4185: # print('\nGOING INTO FUNCTION TO GET ALL FEASIBLE TARGETS FOR ASTEROIDS')
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4191: velocity=(0.0, 0.0),
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4205: max_speed=240,
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4207: )
4208:
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4214: # debug_print(f"\nSimulation starting from timestep {self.initial_timestep + self.future_timesteps}, and we need to wait this many until we can fire: {timesteps_until_can_fire}")
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4218:
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4222: # print(f"\nOn TS {self.initial_timestep + self.future_timesteps} We do not have a pending shot for the asteroid {ast_to_string(asteroid)}")
4223:
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4225: # Check whether there are any mines that are about to go off, and if so, project this asteroid into the future to when the mine goes off to get a boolean of whether the asteroid will get hit by the mine or not.
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4229: #project_asteroid_by_timesteps_num = round(m.remaining_time*FPS)
4230: #asteroid_when_mine_explodes = time_travel_asteroid(asteroid, project_asteroid_by_timesteps_num, self.game_state)
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}
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4282: ))
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4284: # debug_print(f"Imminent collision time is less than inf! {imminent_collision_time_s}")
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4286: # Check whether we have enough time to aim at it and shoot it down
4287: # PROBLEM, what if the asteroid breaks into pieces and I need to shoot those down too? But I have plenty of time, and I still want the fitness function to be good in that case, but there's no easy way to evaluate that. It's hard to decide whether we want to shoot the asteroids that are about to hit us, or to just dodge it by moving myself.
4288:
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4290: # print(target_asteroids_list)
4291: # if there’s an imminent shot coming toward me, I will aim at the asteroid that gets me CLOSEST to the direction of the imminent shot.
4292: # So it only plans one shot at a time instead of a series of shots, and it’ll keep things simpler
4293: # debug_print(f"Least angular dist: {least_angular_distance_asteroid_shooting_angle_error_deg}")
4294: # debug_print('Target asts list: ', target_asteroids_list)
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4297:
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4299: # First try to shoot the most imminent asteroids, if they exist
4300:
4301: # debug_print(f"Shooting at most imminent asteroids. Most imminent collision time is {most_imminent_collision_time_s}s with turn angle error {most_imminent_asteroid_shooting_angle_error_deg}")
4302: # debug_print(most_imminent_asteroid)
4303: # Find the asteroid I can shoot at that gets me closest to the imminent shot, if I can't reach the imminent shot in time until I can shoot
4304: # Sort the targets such that we prioritize asteroids that are about to hit me
4305: # If there's a bullet limit, penalize risky shots more
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4324: ))
4325: # The frontrun time is bounded by 0 and 0.5 seconds, since anything after half a second away is basically the same and there's no point differentiating between them
4326: # TODO: For each asteroid, give it a couple feasible times where we wait longer and longer. This way we can choose to wait a timestep to fire again if we'll get luckier with the bullet lining up
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4329: # Ran through all imminent asteroids! Everything onward won't collide with me anytime soon.
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goto __pyx_L37_break;
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4335: # debug_print(f"Shooting at asteroid that's going to hit me: {ast_to_string(most_imminent_asteroid)}")
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4339: # I can reach the imminent shot without wasting a shot opportunity, so do it
4340: #assert isinstance(most_imminent_asteroid, Asteroid)
4341: #assert isinstance(most_imminent_asteroid_shooting_angle_error_deg, float)
4342: #assert isinstance(most_imminent_asteroid_interception_time_s, float)
4343: #assert isinstance(most_imminent_asteroid_aiming_timesteps, int)
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4359: # debug_print(f"Turn angle deg until we can fire (max 18 degrees): {turn_angle_deg_until_can_fire}")
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4361: # debug_print("The imminent shot requires us to turn the ship to the left")
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4364: # We're underturning too much, so instead find the next overturn
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4370: # print("Found the next target to the right:")
4371: # print(target)
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/* … */
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4373: # We're underturning too much, so instead find the next overturn
4374: # debug_print("Underturning too much, so instead find the next overturn to the right")
+4375: target = self.find_extreme_shooting_angle_error(sorted_targets, -turn_angle_deg_until_can_fire, 'largest_below')
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__Pyx_XDECREF(__pyx_t_1); __pyx_t_1 = 0;
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4376: # print(target)
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4378: # debug_print('As our target were choosing this one which will be on our way:')
4379: # debug_print(target)
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4387: # print(f"DANG IT, we're shooting something on the way to the most imminent asteroid, but we'll miss this particular one!")
4388: else:
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4431: #assert isinstance(least_shot_delay_asteroid_shooting_angle_error_deg, float)
4432: #assert isinstance(least_shot_delay_asteroid_interception_time_s, float)
4433: #assert isinstance(least_shot_delay_asteroid_aiming_timesteps, int)
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4435: # actual_asteroid_hit is at the timestep (self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid)
4436: # The timesteps_until_bullet_hit_asteroid time INCLUDES the aiming time!
4437: # The reason we can't just check whether the asteroid in the future has a pending shot, and we have to back-extrapolate to when we fire, is that, say I do a shot at time 0, and it’ll hit the ast at time 10. If at time 8, I check whether I’ve shot at the asteroid already, and say it’ll take 5 timesteps to hit it. I need to check at time 8, NOT TIME 13! Time 13 is after the original shot hits it, so I can’t be checking it after. So THAT’S WHY I should be back-projecting the asteroid.
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4448: # Pick a direction to turn the ship anyway, just to better line it up with more shots
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/* … */
goto __pyx_L74;
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4467:
4468: # debug_print('Closest ang asteroid:')
4469: # debug_print(target_asteroids_list[least_angular_distance_asteroid_index])
4470: # debug_print('Second closest ang asteroid:')
4471: # debug_print(target_asteroids_list[second_least_angular_distance_asteroid_index])
4472:
4473: # print(f"Bullet should have been fired on simulated timestep {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)}")
4474:
4475: # The following code is confusing, because we're working with different times.
4476: # We need to make sure that when we talk about an asteroid, we talk about its position at a specific time. If the time we talk about is not synced up with the position, everything's wrong.
4477: # So if an asteroid is on position 1 at time 1, position 2 at time 2, position 3 at time 3, etc, then we must associate the asteroid with a timestep.
4478: # A smarter, less buggy way to store asteroids is to include not only their position, but their timestep as well. But too late.
4479: # Timestep [self.initial_timestep + self.future_timesteps] is the current timestep, or the timestep the sim was started on. Future timesteps should be 0 so far since we haven't moved.
4480: # Timestep [self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)] gives us the timestep after we do our aiming, and when we shoot our bullet
4481: # Timestep [self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid] gives us the timestep the asteroid got hit
4482:
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/* … */
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4487: # Added one to the timesteps to prevent off by one :P
4488: #print('WITHHOLDING SHOT IN TARGET SELECTION BECAUSE SCENARIO IS ENDING')
+4489: self.fire_next_timestep_flag = False
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+4490: sim_complete_without_crash = self.update(0.0, 0.0, False, False)
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4492: # TODO: This following statement, doesn't this mean if I accidentally hit something in the way that I already shot, then I just won't even try to shoot at all? Even though the bullet should still hit what's behind it some of the time at least?
4493: # TODO: Or maybe this case isn't even possible because I do the sim to make sure that I hit whatever I wanted to hit, and if I had a pending shot, that shot would have hit it so this would never happen!
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4495: # We can't seem to hit anything on this timestep. Maybe the asteroids are done being shot, or maybe we can't hit them because of the way things are lined up and the bullets skip over the asteroids, idk.
4496: # if ENABLE_ASSERTIONS and actual_asteroid_hit is not None:
4497: # TODO: This is testing above theory to see if it holds
4498: # assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + len(aiming_move_sequence), self.game_state, actual_asteroid_hit_when_firing), f"WTH this asteroid: {actual_asteroid_hit_when_firing}, whole freaking dict: {self.asteroids_pending_death}"
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4500: # print("We can't hit anything this timestep.")
+4501: if asteroids_still_exist:
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/* … */
goto __pyx_L83;
}
4502: # print('asteroids still exist')
+4503: if random.randint(1, 10) == 1:
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+4504: self.explanation_messages.append("Asteroids exist but we can't hit them. Moving around a bit randomly.")
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4505: # Setting this to -1 is a signal to set the asteroid fitness really low, so hopefully we'll choose actions that'll move around
+4506: self.asteroids_shot -= 1
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4515: # print(f"Calling update from targ sel:")
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__Pyx_GOTREF(__pyx_t_7);
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4520: else:
4521: # We're able to hit an asteroid! We're committing to it.
+4522: assert timesteps_until_bullet_hit_asteroid is not None
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if (unlikely(__pyx_assertions_enabled())) {
if (unlikely(!__pyx_v_timesteps_until_bullet_hit_asteroid)) { __Pyx_RaiseUnboundLocalError("timesteps_until_bullet_hit_asteroid"); __PYX_ERR(0, 4522, __pyx_L1_error) }
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__Pyx_Raise(__pyx_builtin_AssertionError, 0, 0, 0);
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4523: # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit)} on timestep {self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid}")
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__Pyx_GetModuleGlobalName(__pyx_t_19, __pyx_mstate_global->__pyx_n_u_ENABLE_SANITY_CHECKS); if (unlikely(!__pyx_t_19)) __PYX_ERR(0, 4524, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_19); __pyx_t_17 = __Pyx_PyObject_IsTrue(__pyx_t_19); if (unlikely((__pyx_t_17 < 0))) __PYX_ERR(0, 4524, __pyx_L1_error) __Pyx_DECREF(__pyx_t_19); __pyx_t_19 = 0; if (__pyx_t_17) { /* … */ }
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__Pyx_GetModuleGlobalName(__pyx_t_7, __pyx_mstate_global->__pyx_n_u_check_whether_this_is_a_new_aste_2); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 4525, __pyx_L1_error)
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4526: # print(f"Current timestep: {self.initial_timestep + self.future_timesteps}, and the aiming maneuver is {len(aiming_move_sequence)}")
4527: # print(self.asteroids_pending_death)
4528: # actual_asteroid_hit_when_firing = time_travel_asteroid(actual_asteroid_hit, len(aiming_move_sequence) - timesteps_until_bullet_hit_asteroid, self.game_state)
4529: # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit_when_firing)} on timestep {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)}")
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4532: # assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + len(aiming_move_sequence) - 1, self.game_state, actual_asteroid_hit_when_firing)
4533:
4534: # actual_asteroid_hit_UNEXTRAPOLATED = dict(actual_asteroid_hit)
4535: # This back-extrapolates the asteroid to when we're firing our bullet
4536:
4537: #debug_print(f"We used a sim to forecast the asteroid that we'll hit being the one at pos ({actual_asteroid_hit.position[0]}, {actual_asteroid_hit.position[1]}) with vel ({actual_asteroid_hit.velocity[0]}, {actual_asteroid_hit.velocity[1]}) in {timesteps_until_bullet_hit_asteroid - len(aiming_move_sequence)} timesteps")
4538: #debug_print(f"The primitive forecast would have said we'd hit asteroid at pos ({target_asteroid.position[0]}, {target_asteroid.position[1]}) with vel ({target_asteroid.velocity[0]}, {target_asteroid.velocity[1]}) in {calculate_timesteps_until_bullet_hits_asteroid(target_asteroid_interception_time_s, target_asteroid.radius)} timesteps")
4539: # print(self.asteroids_pending_death)
4540: # print(f"\nTracking that we just shot at the asteroid {ast_to_string(actual_asteroid_hit)}, our intended target was {target_asteroid}")
4541: # actual_asteroid_hit_UNEXTRAPOLATED = extrapolate_asteroid_forward(actual_asteroid_hit, -(len(aiming_move_sequence) - timesteps_until_bullet_hit_asteroid), self.game_state, True)
+4542: actual_asteroid_hit_at_present_time = time_travel_asteroid(actual_asteroid_hit, -timesteps_until_bullet_hit_asteroid, self.game_state)
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+4544: actual_asteroid_hit_at_present_time_for_plotting = time_travel_asteroid(actual_asteroid_hit, -timesteps_until_bullet_hit_asteroid - 1, self.game_state) # REMOVE_FOR_COMPETITION
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4546: # actual_asteroid_hit_tracking_purposes_super_early = extrapolate_asteroid_forward(actual_asteroid_hit, )
4547: # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit_at_present_time)} on timestep {self.initial_timestep + self.future_timesteps}")
4548: # assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + 0*len(aiming_move_sequence), self.game_state, actual_asteroid_hit_at_present_time)
4549: # print(f'\n\nTracking that we shot at the asteroid {ast_to_string(actual_asteroid_hit_at_present_time)} at the timestep after turning {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence) - 1}')
4550: # print(self.asteroids_pending_death)
4551: # debug_print(f"Move seq is len {len(aiming_move_sequence)} and is {aiming_move_sequence}")
4552: # debug_print(f"We're in the future by {self.future_timesteps} timesteps")
4553: # actual_asteroid_hit_when_firing['trace'] = f"Asteroid added from target selection sim id {self.sim_id}, self.initial_timestep {self.initial_timestep} self.future_timesteps {self.future_timesteps} aiming_move_sequence {aiming_move_sequence}"
4554:
4555: # debug_print('Were gonna fire the next timestep! Printing out the move sequence:', aiming_move_sequence)
4556: # TODO: Currently Neo can't fire on timestep 1! Fix this! Although it's only a minor issue.
+4557: future_ts_backup = self.future_timesteps
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4558: # Forecasted splits get progressed while doing the move sequence which includes rotation, so we need to start the forecast before the rotation even starts
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4560: #print("Calling forecast ast bull splits from targ sel")
+4561: self.forecasted_asteroid_splits.extend(forecast_asteroid_bullet_splits_from_heading(actual_asteroid_hit_at_present_time, timesteps_until_bullet_hit_asteroid, ship_state_after_aiming.heading, self.game_state))
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4562: # print(f"In targeting, Forecasted asteroid splits on ts {self.initial_timestep + self.future_timesteps} is {self.forecasted_asteroid_splits}")
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+4568: assert future_ts_backup + len(aiming_move_sequence) == self.future_timesteps # REMOVE_FOR_COMPETITION
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4570: # print(f"\nSHOT AT THE ASTEROID IN TARGET SELECTION on timestep {self.initial_timestep=} {self.future_timesteps=}")
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4572: # print(f"self.asteroids_pending_death updated to {self.asteroids_pending_death[100]}")
4573: # print(self.asteroids_pending_death)
4574: else:
4575: # If we died, we're gonna do a respawn maneuver and we won't shoot because that will remove our 3 second respawn invincibility immediately
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4577: # print('THE ACTUAL MOVE SEQUENCE WE GET BACK FROM THE SIM:')
4578: # print(self.ship_move_sequence)
4579: # debug_print(f"Sim id {self.sim_id} is returning from target sim with success value {sim_complete_without_crash}")
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4582:
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__Pyx_GOTREF(__pyx_t_9);
__Pyx_XDECREF_SET(__pyx_v_b, __pyx_t_9);
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/* … */
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/* … */
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4660: # debug_print(f"TS ahead of sim end: {timesteps_until_bullet_hit_asteroid}")
4661: # debug_print(asteroids)
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/* … */
goto __pyx_L88;
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/* … */
}
4696: #bullet_sim_time += time.perf_counter() - start_time
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__Pyx_INCREF((PyObject *)__pyx_mstate_global->__pyx_ptype_14neo_controller_Bullet);
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4703: heading=bullet_fired_from_ship_heading,
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4706: )
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__pyx_t_1 = (__pyx_v_current_move_index != ((PyObject*)Py_None));
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__Pyx_Raise(__pyx_builtin_AssertionError, 0, 0, 0);
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if ((1)); else __PYX_ERR(0, 4708, __pyx_L1_error)
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__Pyx_Raise(__pyx_builtin_AssertionError, 0, 0, 0);
__PYX_ERR(0, 4709, __pyx_L1_error)
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+4720: assert -SHIP_MAX_THRUST <= thrust <= SHIP_MAX_THRUST # REMOVE_FOR_COMPETITION
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4721: # thrust = min(max(-SHIP_MAX_THRUST, thrust), SHIP_MAX_THRUST)
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/* … */
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/* … */
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/* … */
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+4850: self.intended_move_sequence = move_sequence # Record down the intended move sequence, so if I crash and the recorded move sequence gets cut short, we still have the intended move sequence!
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4851: #flag = False
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4864: # print(f"Calling update from sim maneuver:")
4865: #if self.sim_id == 23215:
4866: #print(f"Calling update from sim maneuver: with {thrust=}, {turn_rate=}, {allow_firing=}")
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4870: #if self.sim_id == 333:
4871: # print(f"In sim {self.sim_id} After thrusting by {thrust} the true simmed ship speed is {self.ship_state.speed}")
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4881: #global sim_update_total_time, sim_cull_total_time
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+4883: raise Exception("Bad luck exception!") # REMOVE_FOR_COMPETITION
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4884: #start_time = time.perf_counter()
4885: # This should exactly match what kessler_game.py does.
4886: # Being even one timestep off is the difference between life and death!!!
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4888: '''
4889: if not wait_out_mines:
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4892: else:
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4894: '''
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4897: # Create a super lightweight state that omits unnecessary stuff
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+4899: timestep=self.initial_timestep + self.future_timesteps,
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4901: # Assuming game_state and other attributes are optional or have default values in SimState definition
4902: ))
4903: else:
+4904: self.state_sequence.append(SimState(
/*else*/ {
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__pyx_t_5 = NULL;
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/* … */
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+4905: timestep=self.initial_timestep + self.future_timesteps,
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+4908: asteroids_pending_death=dict(self.asteroids_pending_death),
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4919: # Ships are given the game state from after the previous timestep. Ships then decide the inputs.
4920: # Update bullets/mines/asteroids.
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4977: #print(f"SURPRISINGLY WE DON'T HIT ANYTHING LIKE WE THOUGHT WE WOULD!")
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4996: # We can shoot this timestep! Loop through all asteroids and see which asteroids we can feasibly hit if we shoot at this angle, and take those and simulate with the bullet sim to see which we'll hit
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5011: # Get the length of time the longest asteroid would take to hit, and that'll be the upper bound of the bullet sim's timesteps
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5017: # This mine is mine
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+5071: feasible_targets_exist = True
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/* … */
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5078: #if self.sim_id == 88227:
5079: # print(f"Feasible targets exist! {culled_target_idxs_for_simulation=}")
5080: # Use the bullet sim to confirm that this will hit something
5081: # There's technically a chance for culled_targets_for_simulation to be empty at this point, if we're purely shooting asteroids that haven't come into existence yet. In that case, this will detect that and will avoid doing the culling, and do the full sim. This should be rare.
5082: #culled_targets_for_simulation = [asteroid for ast_idx, asteroid in enumerate(self.game_state.asteroids) if ast_idx in culled_target_idxs_for_simulation]
5083: #print(f"{len(self.game_state.asteroids)=}, {len(culled_target_idxs_for_simulation)=}, ratio={len(self.game_state.asteroids)/len(culled_target_idxs_for_simulation)}")
5084:
5085: '''
5086: # Convert the list to a set to remove any duplicates
5087: unique_set = set(culled_target_idxs_for_simulation)
5088:
5089: # Convert the set back to a list
5090: unique_list = list(unique_set)
5091:
5092: # Sort both lists in ascending order
5093: unique_list.sort()
5094:
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5096: assert culled_target_idxs_for_simulation == unique_list, "Lists are not identical or contain duplicates"
5097: assert len(culled_target_idxs_for_simulation) == len(unique_list), "List lengths are not equal"
5098: '''
5099:
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+5115: self.explanation_messages.append("During the maneuver, I conveniently shot asteroids.")
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5117: #print("Calling forecast ast bull splits from maneuver")
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5119: # The reason we add one to the timestep we track on, is that once we updated the asteroids' position in the update loop, it's technically the asteroid positions in the game state of the next timestep that gets passed to the controllers!
5120: # So the asteroid positions at a certain timestep is before their positions get updated. After updating, it's the next timestep.
5121: #if is_close(-10.0, actual_asteroid_hit_at_fire_time.velocity[0]):
5122: # print(f"\nSHOT AT THE ASTEROID IN UPDATE in sim {self.sim_id} on timestep {self.initial_timestep + self.future_timesteps + 1}, {self.initial_timestep=} {self.future_timesteps=} and this shot will take this many ts: {timesteps_until_bullet_hit_asteroid}")
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5125: # Added one to the timesteps to prevent off by one :P
5126: #print(f'WITHHOLDING SHOT BECAUSE SCENARIO IS ENDING, self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid + 1 = {self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid + 1}, {self.game_state.time_limit=}, {FPS*self.game_state.time_limit=}')
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5317: # This is the last possible frame to drop a mine and have it do something. Dump the mine!
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5319: else:
5320: # We're prescribing a mine drop since we're replaying actions we've already simulated and we decided to place a mine the first time we simmed this action
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+5324: self.sim_placed_a_mine = True
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5326: # This doesn't check whether it's valid to place a mine! It just does it!
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goto __pyx_L235_continue;
5429: #if check_collision(asteroid.position[0], asteroid.position[1], asteroid.radius, mine.position[0], mine.position[1], MINE_BLAST_RADIUS):
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+5435: new_asteroids.extend(forecast_asteroid_mine_instantaneous_splits(asteroid, mine, self.game_state))
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5439: #if check_collision(self.ship_state.position[0], self.ship_state.position[1], SHIP_RADIUS, mine.position[0], mine.position[1], MINE_BLAST_RADIUS):
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5444: # Ship got hit by mine, RIP
5445: #print(f"Ship got hit by mine in sim, RIP and the ship respawn state is {self.ship_state.is_respawning} with the respawn timer at {self.respawn_timer}")
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5465: # Check ship/asteroid collisions
5466: # This DOES NOT account for the other ship! Since we can't predict their behavior, I'll just assume the other ship doesn't exist instead of wrongly predicting stuff that doesn't end up happening.
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__Pyx_GetModuleGlobalName(__pyx_t_6, __pyx_mstate_global->__pyx_n_u_ENABLE_SANITY_CHECKS); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 5468, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_3 = __Pyx_PyObject_IsTrue(__pyx_t_6); if (unlikely((__pyx_t_3 < 0))) __PYX_ERR(0, 5468, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; if (__pyx_t_3) { /* … */ }
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__pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_respawn_maneuver_pass_number); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 5469, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_3 = (__Pyx_PyLong_BoolEqObjC(__pyx_t_6, __pyx_mstate_global->__pyx_int_0, 0, 0)); if (unlikely((__pyx_t_3 < 0))) __PYX_ERR(0, 5469, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; if (__pyx_t_3) { /* … */ }
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__Pyx_Raise(__pyx_builtin_AssertionError, 0, 0, 0);
__PYX_ERR(0, 5470, __pyx_L1_error)
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goto __pyx_L268_continue;
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+5477: delta_y = self.ship_state.position[1] - asteroid.position[1]
__pyx_t_13 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_ship_state); if (unlikely(!__pyx_t_13)) __PYX_ERR(0, 5477, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_13); __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_t_13, __pyx_mstate_global->__pyx_n_u_position); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 5477, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_DECREF(__pyx_t_13); __pyx_t_13 = 0; __pyx_t_13 = __Pyx_GetItemInt(__pyx_t_9, 1, long, 1, __Pyx_PyLong_From_long, 0, 0, 0); if (unlikely(!__pyx_t_13)) __PYX_ERR(0, 5477, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_13); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_v_asteroid, __pyx_mstate_global->__pyx_n_u_position); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 5477, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_8 = __Pyx_GetItemInt(__pyx_t_9, 1, long, 1, __Pyx_PyLong_From_long, 0, 0, 0); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 5477, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_8); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __pyx_t_9 = PyNumber_Subtract(__pyx_t_13, __pyx_t_8); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 5477, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_DECREF(__pyx_t_13); __pyx_t_13 = 0; __Pyx_DECREF(__pyx_t_8); __pyx_t_8 = 0; __Pyx_XDECREF_SET(__pyx_v_delta_y, __pyx_t_9); __pyx_t_9 = 0;
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5502: # The ship and asteroid are overlapping, while the ship is doing a respawn maneuver.
5503: # We want to track this, so that we can begin to shoot asteroids right after we're no longer overlapping with any, before we finish the respawn maneuver and get a couple more hits in
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5506: # Cull asteroids marked for removal
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5513: # Checking collisions with the other ship isn't a great idea since this isn't 100% sure. This models the other ship as stationary, which probably won't be true, unless their controller is the null controller.
5514: '''
5515: # Check ship/ship collisions
5516: if not self.ship_state.is_respawning:
5517: if ENABLE_ASSERTIONS:
5518: assert return_value is None
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5571: #print(f"Accelerating to speed {target_speed} while our speed is already {self.ship_state.speed}")
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5578: # The drag amount is reduced if it would make the ship cross 0 speed on its own
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5609: #print(f"In get state sequence, the final timestep was {self.state_sequence[-1]['timestep']} and we're appending the last state to make it {self.initial_timestep + self.future_timesteps}")
5610: #self.state_sequence.append(cast(SimState, {'timestep': self.initial_timestep + self.future_timesteps, 'ship_state': copy.copy(self.ship_state), 'game_state': self.get_game_state(), 'asteroids_pending_death': dict(self.asteroids_pending_death), 'forecasted_asteroid_splits': [copy.copy(a) for a in self.forecasted_asteroid_splits]}))
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5653:
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5655: """
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5657: """
5658:
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5661:
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5715: #self.reality_move_sequence: list[dict[str, Any]] = []
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5722: # For performance controller
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5729:
5730: # Clear globals
5731: global explanation_messages_with_timestamps
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5733: #global total_abs_cruise_speed
5734: #total_abs_cruise_speed = SHIP_MAX_SPEED/2
5735: #global total_cruise_timesteps
5736: #total_cruise_timesteps = round(MAX_CRUISE_TIMESTEPS/2)
5737: #global total_maneuvers_to_learn_from
5738: #total_maneuvers_to_learn_from = 1
5739: global abs_cruise_speeds, cruise_timesteps, unwrap_cache, total_sim_timesteps, overall_fitness_record
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5762:
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+5837: assert self.game_state_to_base_planning is not None
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+5838: assert self.best_fitness_this_planning_period_index != INT_NEG_INF # REMOVE_FOR_COMPETITION
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5862:
5863: #time.sleep(10)
5864: #if ENABLE_SANITY_CHECKS: # REMOVE_FOR_COMPETITION
5865: # assert self.stationary_targetting_sim_index != INT_NEG_INF or self.game_state_to_base_planning['ship_state'].bullets_remaining == 0 or self.game_state_to_base_planning['respawning'] or not is_close_to_zero(self.game_state_to_base_planning['ship_state'].speed) # REMOVE_FOR_COMPETITION
5866: # print(f"Deciding next action, Respawn maneuver status is: {self.game_state_to_base_planning['respawning']}")
5867: # Go through the list of planned maneuvers and pick the one with the best fitness function score
5868: # Update the state to base planning off of, so Neo can get to work on planning the next set of moves while this current set of moves executes
5869: # print('Going through sorted sims list to pick the best action')
5870: best_action_sim: Matrix
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5872: # Since the game is non-deterministic, we need to apply our simulated moves onto the actual corrected state, so errors don't build up
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5874: #print('pred sim id', best_action_sim_predicted.get_sim_id())
5875: # debug_print(f"\nPredicted best action sim first state:", best_action_sim_predicted.get_state_sequence()[0])
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5884: pass # REMOVE_FOR_COMPETITION
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5887: # debug_print(f"best_predicted_sim_fire_next_timestep_flag: {best_predicted_sim_fire_next_timestep_flag}, self.game_state_to_base_planning['fire_next_timestep_flag']: {self.game_state_to_base_planning['fire_next_timestep_flag']}")
5888: # self.game_state_to_base_planning['fire_next_timestep_flag'] is whether we fire at the BEGINNING of the period, while best_action_sim_predicted.get_fire_next_timestep_flag() is whether we fire AFTER this period
5889: # debug_print('DECIDE NEXT ACTION REDO sim ast pending death:')
5890: # debug_print(self.game_state_to_base_planning['asteroids_pending_death'])
5891: #print("Doing a best action sim")
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5903: verify_first_shot=True,
5904: verify_maneuver_shots=True,
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+5907: best_action_sim_predicted_move_sequence = best_action_sim_predicted.get_intended_move_sequence()
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5909: #print(f"Actual move sequence length: {len(best_action_sim_actual_move_sequence)}, intended move sequence length: {len(best_action_sim_predicted_move_sequence)}")
5910: # If the actual move sequence is shorter than the intended, that's because I crashed into something. But we should still extend the shorter list with the rest of the elements of the intended move sequence, because just in case we don't collide as expected, the move sequence will still include the additional instructions needed to come to a complete stop again.
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+5912: best_action_sim_actual_move_sequence.extend(best_action_sim_predicted_move_sequence[-(len(best_action_sim_predicted_move_sequence) - len(best_action_sim_actual_move_sequence)):])
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5913: #debug_print(f"\nIntended move sequence:")
5914: #debug_print(best_action_sim_predicted_move_sequence)
5915: #debug_print(f"Actual move sequence:")
5916: #debug_print(best_action_sim_actual_move_sequence)
5917: #print(f"Applying move sequence for maneuver. Seq is {best_action_sim_predicted_move_sequence}")
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5919: #print("Applying respawning move sequence")
+5920: best_action_sim.apply_move_sequence(best_action_sim_actual_move_sequence, False, False)
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5921: else:
5922: # This can only be maneuvering, and this gives the freedom to aim and shoot during the maneuver
5923: #print(f'\ncalling sim maneuver in decide best with intended move sequence of {best_action_sim_predicted_move_sequence} and actual move sequence of {best_action_sim_predicted.get_move_sequence()}')
+5924: best_action_sim.simulate_maneuver(best_action_sim_actual_move_sequence, False, False) # TODO: Investigate. This completely takes out the shooting that we planned before!
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5926: #print('crashing sim id:', best_action_sim.get_sim_id())
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5932: # Using the true current state, we see that our best sim's true fitness is lower than what we were expecting.
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+5934: debug_print("Old fitness breakdown:", self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['fitness_breakdown'])
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5936: #print('Actual base state which is now current:')
5937: #print(game_state)
5938: #print('Actual ship state which is now current:')
5939: #print(ship_state)
5940: #print('And the NEW sim predicts the ship state to be:')
5941: #print(best_action_sim.get_ship_state())
5942: #print('But the old sim thought the ship state would be:')
5943: #print(best_action_sim_predicted.get_ship_state())
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5947: # The second best sim also uses a predicted state
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5953: #print(f"Doing second best action sim. Ship respawn timer: {self.game_state_to_base_planning['ship_respawn_timer']}, asts pending death: {self.game_state_to_base_planning['asteroids_pending_death']}, forecasted splits: {self.game_state_to_base_planning['forecasted_asteroid_splits']}, is respawning: {self.game_state_to_base_planning['respawning']}, fire next ts flag: {self.game_state_to_base_planning['fire_next_timestep_flag']}")
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5974: # print(f"Applying move sequence for maneuver #2, seq is {second_best_action_sim_predicted_move_sequence}")
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5999: # Go back to the drawing board and do more simulations to find a good one! This will lag the game a bit, but it's better to slightly lag the game and put on a better show than to die.
6000: # Flush out the bad sims that the top spots are polluted with.
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6008:
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6012: else:
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6016: # If we did a respawn maneuver, we still have to run a second pass of it so we can get more shots in at the end, and hopefully eek out a bit more fitness score
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6020: #print(f"RUNNING SECOND PASS OF RESPAWN MANEUVER. {best_action_sim_respawn_first_pass.get_last_timestep_colliding_with_asteroid()=}")
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6022: ship_state=ship_state,
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6069: #print(f"{best_action_maneuver_tuple=}, and the avg best cruise speed is now {weighted_average(abs_cruise_speeds)} and avg cruise timesteps is {weighted_average(cruise_timesteps)}")
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6085: # We're gonna die. Force select the one where I stay put and accept my fate, and don't even begin a maneuver.
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6088: # if self.stationary_targetting_sim_index:
6089: # self.best_fitness_this_planning_period_index = self.stationary_targetting_sim_index
6090: # best_action_sim: Simulation = self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['sim']
6091: # best_action_fitness = self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['fitness']
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6100: # debug_print('stationary fitneses', stationary_fitness_breakdown)
6101: #print(f"Stationary breakdown: {stationary_fitness_breakdown}, best sim breakdown: {best_action_fitness_breakdown}")
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6103: # No mines are threatening us whether we stay put or move
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6112: #print(f"Current average overall fitness is {weighted_average(overall_fitness_record)}")
6113: # debug_print(f"Respawn maneuver status is: {self.game_state_to_base_planning['respawning']}, Move type: {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['action_type']}, state type: {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['state_type']}, Best move seq with fitness {best_action_fitness}: {best_move_sequence}")
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6115: # debug_print(f"The action we're taking is from timestep {best_action_sim_state_sequence[0]['timestep']} to {best_action_sim_state_sequence[-1]['timestep']}")
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+6120: explanation_messages = best_action_sim.get_explanations()
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6124: # Only periodically print this explanation, as I don't want it to spam the screen too much
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6126: # end_state = sim_ship.get_state_sequence()[-1]
6127: #assert self.stationary_targetting_sim_index is not None
6128: #print(f"Maneuver fitness: {best_action_fitness}, stationary fitness: {self.sims_this_planning_period[self.stationary_targetting_sim_index]['fitness']} stationary fitness breakdown: {self.sims_this_planning_period[self.stationary_targetting_sim_index]['fitness_breakdown']}")
6129: # print('state seq:', best_action_sim_state_sequence)
6130: # debug_print('Best move seq:', best_move_sequence)
6131: # debug_print(f"Best sim index: {self.best_fitness_this_planning_period_index}")
6132: # debug_print(f"Choosing action: {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['action_type']} with fitness {best_action_fitness} {best_action_fitness_breakdown}")
6133: # print('all sims this planning period:')
6134: # print(self.sims_this_planning_period)
+6135: if not best_action_sim_state_sequence:
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+6136: raise Exception("Why in the world is this state sequence empty?")
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+6137: best_action_sim_last_state = best_action_sim_state_sequence[-1]
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6138: # Prune out the list of asteroids we shot at if the timestep (key) is in the past
+6139: asteroids_pending_death = best_action_sim.get_asteroids_pending_death()
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6140: # debug_print(f"Timesteps in asteroids pending death: {[timestep for timestep in asteroids_pending_death.keys()]}")
6141: #print(f"Size of asts pending death: {sys.getsizeof()}")
6142: #global asteroids_pending_death_total_cull_time
6143: #start_time = time.perf_counter()
6144: #asteroids_pending_death = {timestep: asteroids for timestep, asteroids in asteroids_pending_death.items() if timestep >= best_action_sim_last_state.timestep}
+6145: for timestep in range(self.current_timestep, best_action_sim_last_state.timestep):
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+6146: if timestep in asteroids_pending_death:
__pyx_t_2 = (__Pyx_PySequence_ContainsTF(__pyx_v_timestep, __pyx_v_asteroids_pending_death, Py_EQ)); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 6146, __pyx_L1_error) if (__pyx_t_2) { /* … */ }
+6147: del asteroids_pending_death[timestep]
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6148: #asteroids_pending_death_total_cull_time += time.perf_counter() - start_time
+6149: forecasted_asteroid_splits = best_action_sim.get_forecasted_asteroid_splits()
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+6150: next_base_game_state = best_action_sim.get_game_state()
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6151: #print(f"Ast pending death keys: {asteroids_pending_death.keys()}")
6152: # Made this change, because if we're waiting out mines, that'll mess up the game state. But the state sequence still has the last actual game state, so we'll use that!
6153: # next_base_game_state = best_action_sim_last_state['game_state']
6154: # print(f'\nNext base game state for timestep {best_action_sim_last_state["timestep"]}:')
+6155: self.set_of_base_gamestate_timesteps.add(best_action_sim_last_state.timestep)
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+6156: new_ship_state = best_action_sim.get_ship_state()
__pyx_t_1 = __pyx_v_best_action_sim; __Pyx_INCREF(__pyx_t_1); __pyx_t_9 = 0; { PyObject *__pyx_callargs[2] = {__pyx_t_1, NULL}; __pyx_t_20 = __Pyx_PyObject_FastCallMethod(__pyx_mstate_global->__pyx_n_u_get_ship_state, __pyx_callargs+__pyx_t_9, (1-__pyx_t_9) | (1*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)); __Pyx_XDECREF(__pyx_t_1); __pyx_t_1 = 0; if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 6156, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_20); } __pyx_v_new_ship_state = __pyx_t_20; __pyx_t_20 = 0;
+6157: new_fire_next_timestep_flag = best_action_sim.get_fire_next_timestep_flag()
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6158: # print(f"Firing next ts status is: {new_fire_next_timestep_flag}")
+6159: if new_ship_state.is_respawning and new_fire_next_timestep_flag and new_ship_state.lives_remaining not in self.lives_remaining_that_we_did_respawn_maneuver_for:
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6160: # print(f"Forcing off the fire next timestep, because we just took damage")
+6161: new_fire_next_timestep_flag = False
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+6162: if ENABLE_SANITY_CHECKS and new_ship_state.lives_remaining not in self.lives_remaining_that_we_did_respawn_maneuver_for and new_ship_state.is_respawning: # REMOVE_FOR_COMPETITION
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6163: # If our ship is hurt in our next next action and I haven't done a respawn maneuver yet (in this situation, the next next action is a respawn maneuver) # REMOVE_FOR_COMPETITION
6164: # Then I assert that our next action is not a respawning action, AND we're not firing at the start of the next next action # REMOVE_FOR_COMPETITION
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6168: # assert not (self.game_state_to_base_planning['respawning'] or new_fire_next_timestep_flag) # REMOVE_FOR_COMPETITION
6169: # print(f"{new_ship_state.lives_remaining=}, {str(self.lives_remaining_that_we_did_respawn_maneuver_for)=}, {new_ship_state.is_respawning=}")
6170: # debug_print(f"Deciding next action on ts {self.current_timestep}! The new planning ship speed is {new_ship_state.speed} and the move sequence we're executing is REDACTED best_move_sequence, type is {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['action_type']}")
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6183: }
6184: #print('New base gamestate:')
6185: #print(next_base_game_state)
6186: #print('New base shipstate:')
6187: #print(new_ship_state)
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6193: # print(f"Adding to lives remaining that we did respawn for, in decide next action: {new_ship_state.lives_remaining}")
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6195: # debug_print(f"The next base state's respawning state is {self.game_state_to_base_planning['respawning']}")
6196: # debug_print("The new ship state is", new_ship_state)
6197: # debug_print(f"The fire next timestep flag is: {new_fire_next_timestep_flag}")
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__Pyx_INCREF(__pyx_builtin_print);
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+6226: assert move.timestep not in self.actioned_timesteps, "DUPLICATE TIMESTEPS IN ENQUEUED MOVES" # REMOVE_FOR_COMPETITION
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__Pyx_GOTREF(__pyx_t_1);
__pyx_t_4 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_actioned_timesteps); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 6226, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_4);
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__Pyx_Raise(__pyx_builtin_AssertionError, __pyx_mstate_global->__pyx_kp_u_DUPLICATE_TIMESTEPS_IN_ENQUEUED, 0, 0);
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6241: #print("Calling plan action")
6242: # gc.disable()
6243: # Simulate and look for a good move
6244: # We have two options. Stay put and focus on targetting asteroids, or we can come up with an avoidance maneuver and target asteroids along the way if convenient
6245: # We simulate both options, and take the one with the higher fitness score
6246: # If we stay still, we can potentially keep shooting asteroids that are on collision course with us without having to move
6247: # But if we're overwhelmed, it may be a lot better to move to a safer spot
6248: # The third scenario is that even if we're safe where we are, we may be able to be on the offensive and seek out asteroids to lay mines, so that can also increase the fitness function of moving, making it better than staying still
6249: # Our number one priority is to stay alive. Second priority is to shoot as much as possible. And if we can, lay mines without putting ourselves in danger.
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6252: #index_according_to_lives_remaining = min(3, self.game_state_to_base_planning['ship_state'].lives_remaining)
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6254: #print("Planning respawn maneuver")
6255: # Simulate and look for a good move
6256: # print(f"Checking for imminent danger. We're currently at position {ship_state.position[0]} {ship_state.position[1]}")
6257: # print(f"Current ship location: {ship_state.position[0]}, {ship_state.position[1]}, ship heading: {ship_state.heading}")
6258:
6259: # Check for danger
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6261: # ship_random_range, ship_random_max_maneuver_length = get_simulated_ship_max_range(max_cruise_seconds)
6262: # print(f"Respawn maneuver max length: {ship_random_max_maneuver_length}s")
6263:
6264: #print("Looking for a respawn maneuver")
6265: # Run a simulation and find a course of action to put me to safety
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6267:
6268: # while search_iterations_count < min_search_iterations or (not safe_maneuver_found and search_iterations_count < max_search_iterations):
6269: # for _ in range(search_iterations):
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6274: # print(f"Respawn search iteration {search_iterations_count}")
6275: pass
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case 0:
/* … */
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6278: # On the first iteration, try the null action. For ring scenarios, it may be best to stay at the center of the ring.
6279: # TODO: RESTORE NULL ACTION
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6286: # TODO: Use this opportunity to aim at an asteroid! But we need to do something to get it to shoot, so maybe this won't work with our current framework rip.
6287: # On the second iteration, try staying still for 1 second (and just turn a little bit so we can use the same framework to do this null movement with a wait)
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6294: # TODO: Use this opportunity to aim at an asteroid!
6295: # On the third iteration, try staying still for 2 seconds (and just turn a little bit so we can use the same framework to do this null movement with a wait)
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6301: else:
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6309: # TODO: There's a hardcoded false in the arguments to the following sim. Investigate!!!
6310: #print(f"Doing respawn maneuver with {random_ship_heading_angle=} {ship_accel_turn_rate=} {ship_cruise_speed=} {ship_cruise_turn_rate=} {ship_cruise_timesteps=}")
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6328: # The ship went through all the steps without colliding
6329: #debug_print("The ship went through all the steps without colliding")
6330: # maneuver_complete_without_crash = True
6331: #else:
6332: # The ship crashed somewhere before reaching the final resting spot
6333: #debug_print("The ship crashed somewhere before reaching the final resting spot")
6334: #print(f"Move seq: {maneuver_sim.get_move_sequence()}")
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6336: #print(f"Respawn maneuver fitness: {maneuver_fitness} {maneuver_sim.get_fitness_breakdown()}, move seq length was {len(maneuver_sim.get_move_sequence())}")
6337:
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6345: })
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+6382: stationary_targetting_sim.target_selection()
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6383: #print('\nstationary targetting sim move seq')
6384: #print(stationary_targetting_sim.get_move_sequence())
6385:
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6389: # The plan was to first at the first timestep this planning period. However, due to non-determinism caused by the existence of another ship, this shot would actually miss. We checked and caught this, so we're going to just nix the idea of shooting on the first timestep.
+6390: assert self.game_state_to_base_planning['fire_next_timestep_flag'] # REMOVE_FOR_COMPETITION
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6400: })
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+6403: self.second_best_fitness_this_planning_period = self.best_fitness_this_planning_period
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6405:
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6408:
6409: # debug_print(f"Planning targetting, and got fitness {best_stationary_targetting_fitness}")
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+6411: print(f"\nWARNING: The ship wasn't stationary after the last maneuver, so we're skipping stationary targeting! Our planning period starts on ts {self.game_state_to_base_planning['timestep']}") # REMOVE_FOR_COMPETITION
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6412: # Try moving! Run a simulation and find a course of action to put me to safety
6413: '''
6414: if other_ships_exist:
6415: if isinf(self.best_fitness_this_planning_period):
6416: # This is the first timestep we're planning for this period, so we don't really know how many iterations to use. Don't go all out on this first one in case it's an easy one.
6417: search_iterations = 2
6418: elif self.best_fitness_this_planning_period > 0.9:
6419: search_iterations = 1
6420: elif self.best_fitness_this_planning_period > 0.8:
6421: search_iterations = 1
6422: elif self.best_fitness_this_planning_period > 0.7:
6423: search_iterations = 2
6424: elif self.best_fitness_this_planning_period > 0.6:
6425: search_iterations = 3
6426: elif self.best_fitness_this_planning_period > 0.5:
6427: search_iterations = 4
6428: elif self.best_fitness_this_planning_period > 0.4:
6429: search_iterations = 5
6430: else:
6431: search_iterations = 6
6432: else:
6433: if isinf(self.best_fitness_this_planning_period) and self.game_state_to_base_planning['ship_state'].bullets_remaining != 0:
6434: raise Exception("If there's no ships, why don't we have any sims this planning period yet? We should have done stationary first.")
6435: # This is the first timestep we're planning for this period, so we don't really know how many iterations to use. Don't go all out on this first one in case it's an easy one.
6436: search_iterations = 2
6437: elif self.best_fitness_this_planning_period > 0.9:
6438: search_iterations = 1
6439: elif self.best_fitness_this_planning_period > 0.8:
6440: search_iterations = 1
6441: elif self.best_fitness_this_planning_period > 0.7:
6442: search_iterations = 2
6443: elif self.best_fitness_this_planning_period > 0.6:
6444: search_iterations = 3
6445: elif self.best_fitness_this_planning_period > 0.5:
6446: search_iterations = 4
6447: elif self.best_fitness_this_planning_period > 0.4:
6448: search_iterations = 5
6449: else:
6450: search_iterations = 6
6451: '''
6452:
6453: '''
6454: if iterations_boost:
6455: search_iterations = min(80, (search_iterations + 1)*10)
6456:
6457: if self.game_state_to_base_planning['ship_state'].lives_remaining == 1:
6458: # When down to our last life, try twice as hard to survive
6459: search_iterations *= 2
6460: elif self.game_state_to_base_planning['ship_state'].lives_remaining == 2:
6461: search_iterations = floor(search_iterations*1.5)
6462: '''
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6467:
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6469:
6470: # Let's just pretend the following is a fuzzy system lol
6471: # For performance and simplicity, I'll just use a bunch of if statements
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6473: # This is probably a wall scenario! We have many asteroids all travelling in basically the same direction
+6474: print_explanation(f"Wall scenario detected! Preferring trying longer cruise lengths", self.current_timestep)
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6494: '''
6495: if nearby_asteroid_count > 15:
6496: # Many nearby asteroids
6497: if nearby_asteroid_average_speed > 100:
6498: # Fast asteroids
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6500: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.15
6501: elif nearby_asteroid_average_speed > 50:
6502: # Medium asteroids
6503: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.18
6504: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.1
6505: else:
6506: # Slow asteroids
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6508: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.0
6509: elif nearby_asteroid_count > 5:
6510: # Some nearby asteroids
6511: if nearby_asteroid_average_speed > 100:
6512: # Fast asteroids
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6514: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
6515: elif nearby_asteroid_average_speed > 50:
6516: # Medium asteroids
6517: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.5
6518: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.28
6519: else:
6520: # Slow asteroids
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6522: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.25
6523: else:
6524: # Few nearby asteroids
6525: if nearby_asteroid_average_speed > 100:
6526: # Fast asteroids
6527: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.5
6528: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
6529: elif nearby_asteroid_average_speed > 50:
6530: # Medium asteroids
6531: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.37
6532: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
6533: else:
6534: # Slow asteroids
6535: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.25
6536: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
6537: '''
6538: # print(f"Nearby asteroids count is {nearby_asteroid_count}, average speed of asts is {nearby_asteroid_average_speed}, avg directional speed is {average_directional_speed}, so therefore I'm picking ship cruise timesteps mode to be {ship_cruise_timesteps_mode} and ship speed mode of {ship_cruise_speed_mode}")
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6569:
6570: '''
6571: random_ship_heading_angle = random.triangular(-6.0*10.0, 6.0*10.0, 0)
6572: ship_accel_turn_rate = random.triangular(0, SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE)*(2.0*float(random.getrandbits(1)) - 1.0)
6573: #random_ship_cruise_speed = random.uniform(-ship_max_speed, ship_max_speed)
6574: ship_cruise_speed = random.uniform(-SHIP_MAX_SPEED, SHIP_MAX_SPEED)#random.triangular(0, SHIP_MAX_SPEED, SHIP_MAX_SPEED)*(2.0*float(random.getrandbits(1)) - 1.0)
6575: ship_cruise_turn_rate = random.triangular(0, SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE)*(2.0*float(random.getrandbits(1)) - 1.0)#random.uniform(-SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE)
6576: # TODO: For denser asteroid fields, decrease the max cruise seconds to encourage shorter maneuvers!
6577: #ship_cruise_timesteps = random.randint(1, round(max_cruise_seconds*FPS))
6578: ship_cruise_timesteps = floor(random.triangular(0.0, max_cruise_seconds*FPS, 0.0))
6579: '''
6580:
6581: # First do a dummy simulation just to go through the motion, so we have the list of moves
6582: #print(f"\nDoing the move shenanigans")
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6598: # While evaluating, the simulation is advancing, and if it crashes, then it'll evaluate to false and stop the sim.
6599: #print(preview_move_sequence)
6600: #if maneuver_sim.get_sim_id() == 333:
6601: # print('\ncalling sim maneuver in plan maneuver')
+6602: if maneuver_sim.simulate_maneuver(preview_move_sequence, True, True):
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6603: # The ship went through all the steps without colliding
6604: #pre_fitness = maneuver_sim.get_fitness()
6605: #pre_fitness_breakdown = maneuver_sim.get_fitness_breakdown()
6606: #if maneuver_sim.get_sim_id() == 333:
6607: # print(f"After sim maneuver in plan maneuver, The ship went through all the steps without colliding and lasted {len(maneuver_sim.get_state_sequence())}")
6608: # maneuver_complete_without_crash = True
6609: pass
6610: else:
6611: # The ship crashed somewhere before reaching the final resting spot
6612: #pre_fitness = maneuver_sim.get_fitness()
6613: #pre_fitness_breakdown = maneuver_sim.get_fitness_breakdown()
6614: #if maneuver_sim.get_sim_id() == 333:
6615: # print(f"After sim maneuver in plan maneuver, The ship crashed somewhere before reaching the final resting spot and only lasted {len(maneuver_sim.get_state_sequence())}")
6616: # maneuver_complete_without_crash = False
+6617: pass
/*else*/ {
}
__pyx_L56:;
6618: # print(f"Maneuver completed without crash: {maneuver_complete_without_crash}")
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6620: #print(f"Maneuver fitness: {maneuver_fitness}, maneuver tuple: {random_ship_heading_angle=} {ship_cruise_speed=} {ship_accel_turn_rate=} {ship_cruise_timesteps=} {ship_cruise_turn_rate=}")
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6622: #post_fitness = maneuver_sim.get_fitness()
6623: #print(f"{pre_fitness=} {pre_fitness_breakdown=}, {maneuver_fitness=} {maneuver_fitness_breakdown=}, {post_fitness=}")
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+6625: if maneuver_sim.get_cancel_firing_first_timestep():
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6626: # The plan was to first at the first timestep this planning period. However, due to non-determinism caused by the existence of another ship, this shot would actually miss. We checked and caught this, so we're going to just nix the idea of shooting on the first timestep.
+6627: assert self.game_state_to_base_planning['fire_next_timestep_flag'] # REMOVE_FOR_COMPETITION
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6629: '''
6630: global heuristic_fis_iterations
6631: global heuristic_fis_total_fitness
6632: global random_search_iterations
6633: global random_search_total_fitness
6634: if heuristic_maneuver:
6635: heuristic_fis_iterations += 1
6636: heuristic_fis_total_fitness += maneuver_fitness
6637: else:
6638: random_search_iterations += 1
6639: random_search_total_fitness += maneuver_fitness
6640: '''
6641:
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6649: })
6650: # if heuristic_maneuver:
6651: # debug_print(f"Heuristic maneuver got fitness of {maneuver_fitness}")
6652: # debug_print(f"Planning random maneuver, and got fitness {maneuver_fitness}")
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+6688: debug_print("Neo probably crashed or something because the internal state is all messed up. Welp, let's try this again.")
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/* … */
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6694: # Only do these on the first timestep
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6696: # debug_print(f"\n\nTimestep {self.current_timestep}, ship id {ship_state.id} is at {ship_state.position[0]} {ship_state.position[1]}")
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+6699: self.finish_init(game_state, ship_state)
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+6701: self.performance_controller_enter()
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+6704: iterations_boost = True
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+6705: if self.other_ships_exist:
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6706: # We cannot use deterministic mode to plan ahead
6707: # We can still try to plan ahead, but we need to compare the predicted state with the actual state
6708: # Note that if the other ship dies, then we will switch from this case to the case where other ships don't exist
6709:
6710: # Since other ships exist right now and the game isn't deterministic, we can die at any time even during the middle of a planned maneuver where we SHOULD survive.
6711: # Or maybe we planned to die at the end of the maneuver, but we died in the middle instead. That's a sneaky case that's possible too. Handle all of these!
6712: # Check for that case:
+6713: unexpected_death = False
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6714: # If we're dead/respawning but we didn't plan a respawn maneuver for it, OR if we do expect to die at the end of the maneuver, however we actually died mid-maneuver
6715: #print(f"{ship_state.is_respawning=}, ts: {self.current_timestep}, Action queue length: {len(self.action_queue)}")
6716: # Originally I thought it'd be a necessary condition to check (not self.last_timestep_ship_is_respawning and ship_state.is_respawning and ship_state.lives_remaining not in self.lives_remaining_that_we_did_respawn_maneuver_for) however WE DO NOT want to check that the last timestep we weren't respawning!
6717: # Because a sneaky edge case is, what if we did a respawn maneuver, and then we began to shoot in the middle of the respawn maneuver RIGHT AS the other ship is inside of us? Then we stay in the respawning state without ever getting out of it, but we just lose a life. Losing a life is the main thing we need to check for! And yes, this is an edge case I experienced and spent an hour tracking down.
+6718: if (ship_state.is_respawning and ship_state.lives_remaining not in self.lives_remaining_that_we_did_respawn_maneuver_for) or (self.action_queue and not self.last_timestep_ship_is_respawning and ship_state.is_respawning and ship_state.lives_remaining in self.lives_remaining_that_we_did_respawn_maneuver_for):
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+6719: print_explanation(f"Ouch, I died in the middle of a maneuver where I expected to survive, due to other ships being present!", self.current_timestep)
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6720: #debug_print(f"I have {ship_state.lives_remaining} lives left, and here's the set of lives left we did respawn maneuvers for: {self.lives_remaining_that_we_did_respawn_maneuver_for}") # REMOVE_FOR_COMPETITION
6721: # Clear the move queue, since previous moves have been invalidated by us taking damage
+6722: self.action_queue.clear()
__pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_action_queue); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 6722, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __pyx_t_5 = __pyx_t_3; __Pyx_INCREF(__pyx_t_5); __pyx_t_6 = 0; { PyObject *__pyx_callargs[2] = {__pyx_t_5, NULL}; __pyx_t_4 = __Pyx_PyObject_FastCallMethod(__pyx_mstate_global->__pyx_n_u_clear, __pyx_callargs+__pyx_t_6, (1-__pyx_t_6) | (1*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)); __Pyx_XDECREF(__pyx_t_5); __pyx_t_5 = 0; __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 6722, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); } __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0;
+6723: self.actioned_timesteps.clear() # If we don't clear it, we'll have duplicated moves since we have to overwrite our planned moves to get to safety, which means enqueuing moves on timesteps we already enqueued moves for.
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+6724: self.fire_next_timestep_flag = False # If we were planning on shooting this timestep but we unexpectedly got hit, DO NOT SHOOT! Actually even if we didn't reset this variable here, we'd only shoot after the respawn maneuver is done and then we'd miss a shot. And yes that was a bug that I fixed lmao
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6725: # self.game_state_to_base_planning = None
+6726: self.sims_this_planning_period.clear()
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+6727: self.best_fitness_this_planning_period_index = INT_NEG_INF
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+6728: self.best_fitness_this_planning_period = -INFINITY
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+6730: self.second_best_fitness_this_planning_period = -INFINITY
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+6731: self.base_gamestate_analysis = None
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+6732: unexpected_death = True
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+6734: if ship_state.lives_remaining in self.lives_remaining_that_we_did_respawn_maneuver_for:
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6735: # We expected to die at the end of the maneuver, however we actually died mid-maneuver, so we have to revoke the respawn maneuver we had planned, and plan a new one.
6736: # Removing the life remaining number from this set will allow us to plan a new maneuver for this number of lives remaining
6737: #debug_print("GOTCHA, this life remaining shouldn't be in here! Yoink!") # REMOVE_FOR_COMPETITION
+6738: self.lives_remaining_that_we_did_respawn_maneuver_for.remove(ship_state.lives_remaining)
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+6739: unexpected_survival = False
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6740: # If we're alive at the end of a maneuver but we're expecting to be dead at the end of the maneuver and we've planned a respawn maneuver
6741: #if self.game_state_to_base_planning is not None:
6742: # print(f"Checking for unexpected survival: {ship_state.is_respawning=} {self.game_state_to_base_planning['ship_state'].is_respawning=} {self.game_state_to_base_planning['respawning']=}")
+6743: if not self.action_queue and self.game_state_to_base_planning is not None and not ship_state.is_respawning and self.game_state_to_base_planning['ship_state'].is_respawning and self.game_state_to_base_planning['respawning']:
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6744: # We thought this maneuver would end in us dying, with the next move being a respawn maneuver. However this is not the case. We're alive at the end of the maneuver! This must be because the other ship saved us by shooting an asteroid that was going to hit us, or something.
6745: # This assertion isn't true because we could be doing a respawn maneuver, dying, and doing another respawn maneuver!
6746: # assert not self.last_timestep_ship_is_respawning
+6747: print_explanation(f"\nI thought I would die, but the other ship saved me!!!", self.current_timestep)
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__Pyx_GetModuleGlobalName(__pyx_t_1, __pyx_mstate_global->__pyx_n_u_print_explanation); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 6747, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_1);
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{
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6748: # Clear the move queue, since previous moves have been invalidated by us taking damage
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+6750: self.actioned_timesteps.clear() # If we don't clear it, we'll have duplicated moves since we have to overwrite our planned moves to get to safety, which means enqueuing moves on timesteps we already enqueued moves for.
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6752: # self.game_state_to_base_planning = None
+6753: self.sims_this_planning_period.clear()
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+6755: self.best_fitness_this_planning_period = -INFINITY
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+6757: self.second_best_fitness_this_planning_period = -INFINITY
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+6759: iterations_boost = True
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6761: # Yoink this life remaining from the respawn maneuvers, since we no longer are doing one
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6763: # We need to subtract one from the lives remaining, because when we added it, it was from a simulated ship that had one fewer life. In reality we never lost that life, so we subtract one from our actual lives.
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6842: # debug_print('REFRESHING BASE STATE FOR STATIONARY ON TS', self.current_timestep)
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6846: # We're not respawning but the ship respawn timer is non-zero, so we're gonna fix this and make it consistent!
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6877: # The other ship just died. I'm now alone!
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+6922: raise Exception(f"The actions queue is empty, however the base state's timestep {self.game_state_to_base_planning['timestep']} doesn't match the current timestep {self.current_timestep}! That's weird.")
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+6925: assert success # REMOVE_FOR_COMPETITION
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6926:
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6930: else:
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6932: #thrust, turn_rate, fire, drop_mine = 0.0, 0.0, False, False
6933:
6934: # The next action in the queue is for a future timestep. All actions for this timestep are processed.
6935:
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6937: # Bounds check the stuff before the Kessler code complains to me about it # REMOVE_FOR_COMPETITION
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6945: #self.reality_move_sequence.append({'thrust': thrust, 'turn_rate': turn_rate, 'fire': fire, 'drop_mine': drop_mine}) # REMOVE_FOR_COMPETITION
6946: # debug_print(self.reality_move_sequence) # REMOVE_FOR_COMPETITION
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6949:
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__Pyx_INCREF(__pyx_builtin_print);
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__Pyx_GetModuleGlobalName(__pyx_t_7, __pyx_mstate_global->__pyx_n_u_cast); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 6976, __pyx_L1_error)
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6994: #self.reality_move_sequence.append({'thrust': thrust, 'turn_rate': turn_rate, 'fire': fire, 'drop_mine': drop_mine}) # REMOVE_FOR_COMPETITION
6995: #print(f"TS: {self.current_timestep}, Thrust: {thrust}, Turn Rate: {turn_rate}, Fire: {fire}, Drop Mine: {drop_mine}") # REMOVE_FOR_COMPETITION
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6999:
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